Update and enable PMD 6.3.0 (#1107)

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java

@@ -22,7 +22,7 @@ public class AnalogAccelerometer extends SendableBase implements PIDSource {
   private AnalogInput m_analogChannel;
   private double m_voltsPerG = 1.0;
   private double m_zeroGVoltage = 2.5;
-  private boolean m_allocatedChannel;
+  private final boolean m_allocatedChannel;
   protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
   /**
@@ -42,8 +42,7 @@ public class AnalogAccelerometer extends SendableBase implements PIDSource {
    * @param channel The channel number for the analog input the accelerometer is connected to
    */
   public AnalogAccelerometer(final int channel) {
-    this(new AnalogInput(channel));
-    m_allocatedChannel = true;
+    this(new AnalogInput(channel), true);
     addChild(m_analogChannel);
   }
 
@@ -55,10 +54,13 @@ public class AnalogAccelerometer extends SendableBase implements PIDSource {
    * @param channel The existing AnalogInput object for the analog input the accelerometer is
    *                connected to
    */
-  public AnalogAccelerometer(AnalogInput channel) {
-    requireNonNull(channel, "Analog Channel given was null");
+  public AnalogAccelerometer(final AnalogInput channel) {
+    this(channel, false);
+  }
 
-    m_allocatedChannel = false;
+  private AnalogAccelerometer(final AnalogInput channel, final boolean allocatedChannel) {
+    requireNonNull(channel, "Analog Channel given was null");
+    m_allocatedChannel = allocatedChannel;
     m_analogChannel = channel;
     initAccelerometer();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java

@@ -26,9 +26,9 @@ import static java.util.Objects.requireNonNull;
 public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable {
   private static final double kDefaultVoltsPerDegreePerSecond = 0.007;
   protected AnalogInput m_analog;
-  private boolean m_channelAllocated = false;
+  private boolean m_channelAllocated;
 
-  private int m_gyroHandle = 0;
+  private int m_gyroHandle;
 
   /**
    * Initialize the gyro. Calibration is handled by calibrate().

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java

@@ -41,8 +41,8 @@ public class AnalogTrigger extends SendableBase {
    */
   protected int m_port;
   protected int m_index;
-  protected AnalogInput m_analogInput = null;
-  protected boolean m_ownsAnalog = false;
+  protected AnalogInput m_analogInput;
+  protected boolean m_ownsAnalog;
 
   /**
    * Constructor for an analog trigger given a channel number.

wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java

@@ -26,7 +26,7 @@ public class CAN implements Closeable {
   public static final int kTeamManufacturer = 8;
   public static final int kTeamDeviceType = 10;
 
-  private int m_handle;
+  private final int m_handle;
 
   /**
    * Create a new CAN communication interface with the specific device ID.

wpilibj/src/main/java/edu/wpi/first/wpilibj/CircularBuffer.java

@@ -14,10 +14,10 @@ public class CircularBuffer {
   private double[] m_data;
 
   // Index of element at front of buffer
-  private int m_front = 0;
+  private int m_front;
 
   // Number of elements used in buffer
-  private int m_length = 0;
+  private int m_length;
 
   /**
    * Create a CircularBuffer with the provided size.

wpilibj/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java

@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.hal.PowerJNI;
  * @deprecated Use RobotController class instead
  */
 @Deprecated
-public class ControllerPower {
+public final class ControllerPower {
   /**
    * Get the input voltage to the robot controller.
    *
@@ -157,4 +157,7 @@ public class ControllerPower {
   public static int getFaultCount6V() {
     return PowerJNI.getUserCurrentFaults6V();
   }
+
+  private ControllerPower() {
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java

@@ -146,7 +146,7 @@ public class Counter extends SendableBase implements CounterBase, PIDSource {
     requireNonNull(downSource, "Down Source given was null");
 
     if (encodingType != EncodingType.k1X && encodingType != EncodingType.k2X) {
-      throw new RuntimeException("Counters only support 1X and 2X quadrature decoding!");
+      throw new IllegalArgumentException("Counters only support 1X and 2X quadrature decoding!");
     }
 
     setUpSource(upSource);
@@ -253,7 +253,7 @@ public class Counter extends SendableBase implements CounterBase, PIDSource {
    */
   public void setUpSourceEdge(boolean risingEdge, boolean fallingEdge) {
     if (m_upSource == null) {
-      throw new RuntimeException("Up Source must be set before setting the edge!");
+      throw new IllegalStateException("Up Source must be set before setting the edge!");
     }
     CounterJNI.setCounterUpSourceEdge(m_counter, risingEdge, fallingEdge);
   }
@@ -528,6 +528,7 @@ public class Counter extends SendableBase implements CounterBase, PIDSource {
    *
    * @param pidSource An enum to select the parameter.
    */
+  @Override
   public void setPIDSourceType(PIDSourceType pidSource) {
     requireNonNull(pidSource, "PID Source Parameter given was null");
     if (pidSource != PIDSourceType.kDisplacement && pidSource != PIDSourceType.kRate) {
@@ -537,6 +538,7 @@ public class Counter extends SendableBase implements CounterBase, PIDSource {
     m_pidSource = pidSource;
   }
 
+  @Override
   public PIDSourceType getPIDSourceType() {
     return m_pidSource;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java

@@ -170,6 +170,7 @@ public class DigitalGlitchFilter extends SendableBase {
         / (long) (SensorUtil.kSystemClockTicksPerMicrosecond / 4);
   }
 
+  @Override
   @SuppressWarnings("PMD.UnusedFormalParameter")
   public void initSendable(SendableBuilder builder) {
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java

@@ -19,8 +19,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * for devices like switches etc. that aren't implemented anywhere else.
  */
 public class DigitalInput extends DigitalSource {
-  private int m_channel = 0;
-  private int m_handle = 0;
+  private final int m_channel;
+  private int m_handle;
 
   /**
    * Create an instance of a Digital Input class. Creates a digital input given a channel.
@@ -43,8 +43,8 @@ public class DigitalInput extends DigitalSource {
     if (m_interrupt != 0) {
       cancelInterrupts();
     }
-
     DIOJNI.freeDIOPort(m_handle);
+    m_handle = 0;
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java

@@ -20,8 +20,8 @@ public class DigitalOutput extends SendableBase {
   private static final int invalidPwmGenerator = 0;
   private int m_pwmGenerator = invalidPwmGenerator;
 
-  private int m_channel = 0;
-  private int m_handle = 0;
+  private final int m_channel;
+  private int m_handle;
 
   /**
    * Create an instance of a digital output. Create an instance of a digital output given a

wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -31,8 +31,8 @@ public class DoubleSolenoid extends SolenoidBase {
 
   private byte m_forwardMask; // The mask for the forward channel.
   private byte m_reverseMask; // The mask for the reverse channel.
-  private int m_forwardHandle = 0;
-  private int m_reverseHandle = 0;
+  private int m_forwardHandle;
+  private int m_reverseHandle;
 
   /**
    * Constructor. Uses the default PCM ID (defaults to 0).

wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -25,6 +25,9 @@ import edu.wpi.first.wpilibj.hal.PowerJNI;
 /**
  * Provide access to the network communication data to / from the Driver Station.
  */
+@SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.ExcessiveClassLength",
+                   "PMD.ExcessivePublicCount", "PMD.GodClass", "PMD.TooManyFields",
+                   "PMD.TooManyMethods"})
 public class DriverStation implements RobotState.Interface {
   /**
    * Number of Joystick Ports.
@@ -66,15 +69,16 @@ public class DriverStation implements RobotState.Interface {
   }
 
   private static final double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
-  private double m_nextMessageTime = 0.0;
+  private double m_nextMessageTime;
 
   private static class DriverStationTask implements Runnable {
-    private DriverStation m_ds;
+    private final DriverStation m_ds;
 
     DriverStationTask(DriverStation ds) {
       m_ds = ds;
     }
 
+    @Override
     public void run() {
       m_ds.run();
     }
@@ -144,12 +148,13 @@ public class DriverStation implements RobotState.Interface {
   private int[] m_joystickButtonsReleased = new int[kJoystickPorts];
 
   // preallocated byte buffer for button count
-  private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
+  private final ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
 
-  private MatchDataSender m_matchDataSender;
+  private final MatchDataSender m_matchDataSender;
 
   // Internal Driver Station thread
-  private Thread m_thread;
+  @SuppressWarnings("PMD.SingularField")
+  private final Thread m_thread;
   private volatile boolean m_threadKeepAlive = true;
 
   private final ReentrantLock m_cacheDataMutex = new ReentrantLock();
@@ -159,14 +164,14 @@ public class DriverStation implements RobotState.Interface {
   private int m_waitForDataCount;
 
   // Robot state status variables
-  private boolean m_userInDisabled = false;
-  private boolean m_userInAutonomous = false;
-  private boolean m_userInTeleop = false;
-  private boolean m_userInTest = false;
+  private boolean m_userInDisabled;
+  private boolean m_userInAutonomous;
+  private boolean m_userInTeleop;
+  private boolean m_userInTest;
 
   // Control word variables
   private final Object m_controlWordMutex;
-  private ControlWord m_controlWordCache;
+  private final ControlWord m_controlWordCache;
   private long m_lastControlWordUpdate;
 
   /**
@@ -184,6 +189,7 @@ public class DriverStation implements RobotState.Interface {
    * <p>The single DriverStation instance is created statically with the instance static member
    * variable.
    */
+  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   private DriverStation() {
     HAL.initialize(500, 0);
     m_waitForDataCount = 0;
@@ -277,12 +283,12 @@ public class DriverStation implements RobotState.Interface {
     } else {
       locString = "";
     }
-    String traceString = "";
+    StringBuilder traceString = new StringBuilder("");
     if (printTrace) {
       boolean haveLoc = false;
       for (int i = stackTraceFirst; i < stackTrace.length; i++) {
         String loc = stackTrace[i].toString();
-        traceString += "\tat " + loc + "\n";
+        traceString.append("\tat ").append(loc).append('\n');
         // get first user function
         if (!haveLoc && !loc.startsWith("edu.wpi.first")) {
           locString = loc;
@@ -290,7 +296,7 @@ public class DriverStation implements RobotState.Interface {
         }
       }
     }
-    HAL.sendError(isError, code, false, error, locString, traceString, true);
+    HAL.sendError(isError, code, false, error, locString, traceString.toString(), true);
   }
 
   /**
@@ -302,7 +308,7 @@ public class DriverStation implements RobotState.Interface {
    */
   public boolean getStickButton(final int stick, final int button) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-3");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
     }
     if (button <= 0) {
       reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
@@ -338,7 +344,7 @@ public class DriverStation implements RobotState.Interface {
       return false;
     }
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-3");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
     }
     boolean error = false;
     boolean retVal = false;
@@ -377,7 +383,7 @@ public class DriverStation implements RobotState.Interface {
       return false;
     }
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-3");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
     }
     boolean error = false;
     boolean retVal = false;
@@ -412,10 +418,10 @@ public class DriverStation implements RobotState.Interface {
    */
   public double getStickAxis(int stick, int axis) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-5");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
     if (axis >= HAL.kMaxJoystickAxes) {
-      throw new RuntimeException("Joystick axis is out of range");
+      throw new IllegalArgumentException("Joystick axis is out of range");
     }
 
     m_cacheDataMutex.lock();
@@ -443,10 +449,10 @@ public class DriverStation implements RobotState.Interface {
    */
   public int getStickPOV(int stick, int pov) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-5");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
     if (pov >= HAL.kMaxJoystickPOVs) {
-      throw new RuntimeException("Joystick POV is out of range");
+      throw new IllegalArgumentException("Joystick POV is out of range");
     }
 
     m_cacheDataMutex.lock();
@@ -474,7 +480,7 @@ public class DriverStation implements RobotState.Interface {
    */
   public int getStickButtons(final int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-3");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
     }
 
     m_cacheDataMutex.lock();
@@ -493,7 +499,7 @@ public class DriverStation implements RobotState.Interface {
    */
   public int getStickAxisCount(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-5");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
 
     m_cacheDataMutex.lock();
@@ -512,7 +518,7 @@ public class DriverStation implements RobotState.Interface {
    */
   public int getStickPOVCount(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-5");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
 
     m_cacheDataMutex.lock();
@@ -531,7 +537,7 @@ public class DriverStation implements RobotState.Interface {
    */
   public int getStickButtonCount(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-5");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
 
     m_cacheDataMutex.lock();
@@ -550,7 +556,7 @@ public class DriverStation implements RobotState.Interface {
    */
   public boolean getJoystickIsXbox(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-5");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
 
     m_cacheDataMutex.lock();
@@ -569,7 +575,7 @@ public class DriverStation implements RobotState.Interface {
    */
   public int getJoystickType(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-5");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
 
     m_cacheDataMutex.lock();
@@ -588,7 +594,7 @@ public class DriverStation implements RobotState.Interface {
    */
   public String getJoystickName(int stick) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-5");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
 
     m_cacheDataMutex.lock();
@@ -608,7 +614,7 @@ public class DriverStation implements RobotState.Interface {
    */
   public int getJoystickAxisType(int stick, int axis) {
     if (stick < 0 || stick >= kJoystickPorts) {
-      throw new RuntimeException("Joystick index is out of range, should be 0-5");
+      throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
     }
 
     m_cacheDataMutex.lock();
@@ -624,6 +630,7 @@ public class DriverStation implements RobotState.Interface {
    *
    * @return True if the robot is enabled, false otherwise.
    */
+  @Override
   public boolean isEnabled() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
@@ -636,6 +643,7 @@ public class DriverStation implements RobotState.Interface {
    *
    * @return True if the robot should be disabled, false otherwise.
    */
+  @Override
   public boolean isDisabled() {
     return !isEnabled();
   }
@@ -646,6 +654,7 @@ public class DriverStation implements RobotState.Interface {
    *
    * @return True if autonomous mode should be enabled, false otherwise.
    */
+  @Override
   public boolean isAutonomous() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
@@ -659,6 +668,7 @@ public class DriverStation implements RobotState.Interface {
    *
    * @return True if operator-controlled mode should be enabled, false otherwise.
    */
+  @Override
   public boolean isOperatorControl() {
     return !(isAutonomous() || isTest());
   }
@@ -669,6 +679,7 @@ public class DriverStation implements RobotState.Interface {
    *
    * @return True if test mode should be enabled, false otherwise.
    */
+  @Override
   public boolean isTest() {
     synchronized (m_controlWordMutex) {
       updateControlWord(false);
@@ -1139,7 +1150,8 @@ public class DriverStation implements RobotState.Interface {
         safetyCounter = 0;
       }
 
-      if (++safetyCounter >= 4) {
+      safetyCounter++;
+      if (safetyCounter >= 4) {
         MotorSafetyHelper.checkMotors();
         safetyCounter = 0;
       }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -53,7 +53,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
   /**
    * The index source.
    */
-  protected DigitalSource m_indexSource = null; // Index on some encoders
+  protected DigitalSource m_indexSource; // Index on some encoders
   private boolean m_allocatedA;
   private boolean m_allocatedB;
   private boolean m_allocatedI;
@@ -329,6 +329,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
    *
    * @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
    */
+  @Override
   public int get() {
     return EncoderJNI.getEncoder(m_encoder);
   }
@@ -336,6 +337,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
   /**
    * Reset the Encoder distance to zero. Resets the current count to zero on the encoder.
    */
+  @Override
   public void reset() {
     EncoderJNI.resetEncoder(m_encoder);
   }
@@ -350,6 +352,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
    * @return Period in seconds of the most recent pulse.
    * @deprecated Use getRate() in favor of this method.
    */
+  @Override
   @Deprecated
   public double getPeriod() {
     return EncoderJNI.getEncoderPeriod(m_encoder);
@@ -364,6 +367,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
    * @param maxPeriod The maximum time between rising and falling edges before the FPGA will report
    *                  the device stopped. This is expressed in seconds.
    */
+  @Override
   public void setMaxPeriod(double maxPeriod) {
     EncoderJNI.setEncoderMaxPeriod(m_encoder, maxPeriod);
   }
@@ -375,6 +379,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
    *
    * @return True if the encoder is considered stopped.
    */
+  @Override
   public boolean getStopped() {
     return EncoderJNI.getEncoderStopped(m_encoder);
   }
@@ -384,6 +389,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
    *
    * @return The last direction the encoder value changed.
    */
+  @Override
   public boolean getDirection() {
     return EncoderJNI.getEncoderDirection(m_encoder);
   }
@@ -478,6 +484,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
    *
    * @param pidSource An enum to select the parameter.
    */
+  @Override
   public void setPIDSourceType(PIDSourceType pidSource) {
     m_pidSource = pidSource;
   }
@@ -492,6 +499,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
    *
    * @return The current value of the selected source parameter.
    */
+  @Override
   public double pidGet() {
     switch (m_pidSource) {
       case kDisplacement:

wpilibj/src/main/java/edu/wpi/first/wpilibj/GamepadBase.java

@@ -18,6 +18,7 @@ public abstract class GamepadBase extends GenericHID {
     super(port);
   }
 
+  @Override
   public abstract double getRawAxis(int axis);
 
   /**
@@ -43,19 +44,27 @@ public abstract class GamepadBase extends GenericHID {
     return getStickButton(Hand.kRight);
   }
 
+  @Override
   public abstract boolean getRawButton(int button);
 
+  @Override
   public abstract int getPOV(int pov);
 
+  @Override
   public abstract int getPOVCount();
 
+  @Override
   public abstract HIDType getType();
 
+  @Override
   public abstract String getName();
 
+  @Override
   public abstract void setOutput(int outputNumber, boolean value);
 
+  @Override
   public abstract void setOutputs(int value);
 
+  @Override
   public abstract void setRumble(RumbleType type, double value);
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java

@@ -44,6 +44,7 @@ public abstract class GenericHID {
 
     @SuppressWarnings("MemberName")
     public final int value;
+    @SuppressWarnings("PMD.UseConcurrentHashMap")
     private static final Map<Integer, HIDType> map = new HashMap<>();
 
     HIDType(int value) {
@@ -57,7 +58,7 @@ public abstract class GenericHID {
     }
 
     public static HIDType of(int value) {
-      return (HIDType) map.get(value);
+      return map.get(value);
     }
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/HLUsageReporting.java

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.util.BaseSystemNotInitializedException;
  * Support for high level usage reporting.
  */
 @SuppressWarnings("JavadocMethod")
-public class HLUsageReporting {
+public final class HLUsageReporting {
   private static Interface impl;
 
   @SuppressWarnings("MethodName")
@@ -54,14 +54,20 @@ public class HLUsageReporting {
   }
 
   public static class Null implements Interface {
+    @Override
     public void reportScheduler() {
     }
 
+    @Override
     @SuppressWarnings("PMD.UnusedFormalParameter")
     public void reportPIDController(int num) {
     }
 
+    @Override
     public void reportSmartDashboard() {
     }
   }
+
+  private HLUsageReporting() {
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java

@@ -22,6 +22,7 @@ import static java.util.Objects.requireNonNull;
  * <p>This class is intended to be used by sensor (and other I2C device) drivers. It probably should
  * not be used directly.
  */
+@SuppressWarnings({"PMD.GodClass", "PMD.TooManyMethods"})
 public class I2C implements AutoCloseable {
   public enum Port {
     kOnboard(0), kMXP(1);
@@ -99,6 +100,7 @@ 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("PMD.CyclomaticComplexity")
   public synchronized boolean transaction(ByteBuffer dataToSend, int sendSize,
                                           ByteBuffer dataReceived, int receiveSize) {
     if (dataToSend.hasArray() && dataReceived.hasArray()) {
@@ -231,7 +233,7 @@ public class I2C implements AutoCloseable {
     return transaction(registerAddressArray, registerAddressArray.length, buffer, count);
   }
 
-  private ByteBuffer m_readDataToSendBuffer = null;
+  private ByteBuffer m_readDataToSendBuffer;
 
   /**
    * Execute a read transaction with the device.
@@ -352,12 +354,11 @@ public class I2C implements AutoCloseable {
     byte[] dataToSend = new byte[1];
 
     byte[] deviceData = new byte[4];
-    for (int i = 0, curRegisterAddress = registerAddress;
-         i < count; i += 4, curRegisterAddress += 4) {
+    for (int i = 0; i < count; i += 4) {
       int toRead = count - i < 4 ? count - i : 4;
       // Read the chunk of data. Return false if the sensor does not
       // respond.
-      dataToSend[0] = (byte) curRegisterAddress;
+      dataToSend[0] = (byte) (registerAddress + i);
       if (transaction(dataToSend, 1, deviceData, toRead)) {
         return false;
       }

wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java

@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj.util.AllocationException;
 /**
  * Base for sensors to be used with interrupts.
  */
+@SuppressWarnings("PMD.TooManyMethods")
 public abstract class InterruptableSensorBase extends SendableBase {
   @SuppressWarnings("JavadocMethod")
   public enum WaitResult {
@@ -35,7 +36,7 @@ public abstract class InterruptableSensorBase extends SendableBase {
   /**
    * Flags if the interrupt being allocated is synchronous.
    */
-  protected boolean m_isSynchronousInterrupt = false;
+  protected boolean m_isSynchronousInterrupt;
 
   /**
    * Create a new InterrupatableSensorBase.

wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java

@@ -27,6 +27,7 @@ public class IterativeRobot extends IterativeRobotBase {
   /**
    * Provide an alternate "main loop" via startCompetition().
    */
+  @Override
   public void startCompetition() {
     robotInit();
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java

@@ -40,6 +40,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  *   - teleopPeriodic()
  *   - testPeriodic()
  */
+@SuppressWarnings("PMD.TooManyMethods")
 public abstract class IterativeRobotBase extends RobotBase {
   private enum Mode {
     kNone,
@@ -54,6 +55,7 @@ public abstract class IterativeRobotBase extends RobotBase {
   /**
    * Provide an alternate "main loop" via startCompetition().
    */
+  @Override
   public abstract void startCompetition();
 
   /* ----------- Overridable initialization code ----------------- */

wpilibj/src/main/java/edu/wpi/first/wpilibj/NamedSendable.java

@@ -21,6 +21,7 @@ public interface NamedSendable extends Sendable {
    *
    * @return the name of the subtable of SmartDashboard that the Sendable object will use.
    */
+  @Override
   String getName();
 
   @Override

wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java

@@ -16,11 +16,11 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  */
 public class NidecBrushless extends SendableBase implements SpeedController, MotorSafety, Sendable {
   private final MotorSafetyHelper m_safetyHelper;
-  private boolean m_isInverted = false;
-  private DigitalOutput m_dio;
-  private PWM m_pwm;
-  private volatile double m_speed = 0.0;
-  private volatile boolean m_disabled = false;
+  private boolean m_isInverted;
+  private final DigitalOutput m_dio;
+  private final PWM m_pwm;
+  private volatile double m_speed;
+  private volatile boolean m_disabled;
 
   /**
    * Constructor.

wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java

@@ -22,15 +22,15 @@ public class Notifier implements AutoCloseable {
   private final AtomicInteger m_notifier = new AtomicInteger();
   // The time, in microseconds, at which the corresponding handler should be
   // called. Has the same zero as Utility.getFPGATime().
-  private double m_expirationTime = 0;
+  private double m_expirationTime;
   // The handler passed in by the user which should be called at the
   // appropriate interval.
   private Runnable m_handler;
   // Whether we are calling the handler just once or periodically.
-  private boolean m_periodic = false;
+  private boolean m_periodic;
   // If periodic, the period of the calling; if just once, stores how long it
   // is until we call the handler.
-  private double m_period = 0;
+  private double m_period;
 
   @Override
   @SuppressWarnings("NoFinalizer")

wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java

@@ -25,9 +25,10 @@ import static java.util.Objects.requireNonNull;
  * and derivative calculations. Therefore, the sample rate affects the controller's behavior for a
  * given set of PID constants.
  */
+@SuppressWarnings("PMD.TooManyFields")
 public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
   public static final double kDefaultPeriod = 0.05;
-  private static int instances = 0;
+  private static int instances;
 
   // Factor for "proportional" control
   @SuppressWarnings("MemberName")
@@ -52,34 +53,34 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
   private double m_minimumOutput = -1.0;
 
   // Maximum input - limit setpoint to this
-  private double m_maximumInput = 0.0;
+  private double m_maximumInput;
 
   // Minimum input - limit setpoint to this
-  private double m_minimumInput = 0.0;
+  private double m_minimumInput;
 
   // Input range - difference between maximum and minimum
-  private double m_inputRange = 0.0;
+  private double m_inputRange;
 
   // Do the endpoints wrap around? (e.g., absolute encoder)
-  private boolean m_continuous = false;
+  private boolean m_continuous;
 
   // Is the PID controller enabled
-  protected boolean m_enabled = false;
+  protected boolean m_enabled;
 
   // The prior error (used to compute velocity)
-  private double m_prevError = 0.0;
+  private double m_prevError;
 
   // The sum of the errors for use in the integral calc
-  private double m_totalError = 0.0;
+  private double m_totalError;
 
   // The tolerance object used to check if on target
   private Tolerance m_tolerance;
 
-  private double m_setpoint = 0.0;
-  private double m_prevSetpoint = 0.0;
+  private double m_setpoint;
+  private double m_prevSetpoint;
   @SuppressWarnings("PMD.UnusedPrivateField")
-  private double m_error = 0.0;
-  private double m_result = 0.0;
+  private double m_error;
+  private double m_result;
 
   private PIDSource m_origSource;
   private LinearDigitalFilter m_filter;
@@ -110,7 +111,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
   public class NullTolerance implements Tolerance {
     @Override
     public boolean onTarget() {
-      throw new RuntimeException("No tolerance value set when calling onTarget().");
+      throw new IllegalStateException("No tolerance value set when calling onTarget().");
     }
   }
 
@@ -198,7 +199,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    * Read the input, calculate the output accordingly, and write to the output. This should only be
    * called by the PIDTask and is created during initialization.
    */
-  @SuppressWarnings("LocalVariableName")
+  @SuppressWarnings({"LocalVariableName", "PMD.ExcessiveMethodLength", "PMD.NPathComplexity"})
   protected void calculate() {
     if (m_origSource == null || m_pidOutput == null) {
       return;
@@ -334,6 +335,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    * @param i Integral coefficient
    * @param d Differential coefficient
    */
+  @Override
   @SuppressWarnings("ParameterName")
   public void setPID(double p, double i, double d) {
     m_thisMutex.lock();
@@ -433,6 +435,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    *
    * @return proportional coefficient
    */
+  @Override
   public double getP() {
     m_thisMutex.lock();
     try {
@@ -447,6 +450,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    *
    * @return integral coefficient
    */
+  @Override
   public double getI() {
     m_thisMutex.lock();
     try {
@@ -461,6 +465,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    *
    * @return differential coefficient
    */
+  @Override
   public double getD() {
     m_thisMutex.lock();
     try {
@@ -508,7 +513,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    */
   public void setContinuous(boolean continuous) {
     if (continuous && m_inputRange <= 0) {
-      throw new RuntimeException("No input range set when calling setContinuous().");
+      throw new IllegalStateException("No input range set when calling setContinuous().");
     }
     m_thisMutex.lock();
     try {
@@ -573,6 +578,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    *
    * @param setpoint the desired setpoint
    */
+  @Override
   public void setSetpoint(double setpoint) {
     m_thisMutex.lock();
     try {
@@ -597,6 +603,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    *
    * @return the current setpoint
    */
+  @Override
   public double getSetpoint() {
     m_thisMutex.lock();
     try {
@@ -625,6 +632,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
    *
    * @return the current error
    */
+  @Override
   public double getError() {
     m_thisMutex.lock();
     try {

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java

@@ -43,7 +43,7 @@ public class PWM extends SendableBase {
     k4X
   }
 
-  private int m_channel;
+  private final int m_channel;
   private int m_handle;
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * Common base class for all PWM Speed Controllers.
  */
 public abstract class PWMSpeedController extends SafePWM implements SpeedController {
-  private boolean m_isInverted = false;
+  private boolean m_isInverted;
 
   /**
    * Constructor.

wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java

@@ -31,7 +31,7 @@ import static java.util.Objects.requireNonNull;
  * <p> This will also interact with {@link NetworkTable} by creating a table called "Preferences"
  * with all the key-value pairs. </p>
  */
-public class Preferences {
+public final class Preferences {
   /**
    * The Preferences table name.
    */
@@ -75,6 +75,7 @@ public class Preferences {
    * Gets the vector of keys.
    * @return a vector of the keys
    */
+  @SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
   public Vector<String> getKeys() {
     return new Vector<>(m_table.getKeys());
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java

@@ -90,8 +90,8 @@ public class Relay extends SendableBase implements MotorSafety {
 
   private final int m_channel;
 
-  private int m_forwardHandle = 0;
-  private int m_reverseHandle = 0;
+  private int m_forwardHandle;
+  private int m_reverseHandle;
 
   private Direction m_direction;
 
@@ -150,12 +150,12 @@ public class Relay extends SendableBase implements MotorSafety {
   private void freeRelay() {
     try {
       RelayJNI.setRelay(m_forwardHandle, false);
-    } catch (UncleanStatusException ex) {
+    } catch (UncleanStatusException ignored) {
       // do nothing. Ignore
     }
     try {
       RelayJNI.setRelay(m_reverseHandle, false);
-    } catch (UncleanStatusException ex) {
+    } catch (UncleanStatusException ignored) {
       // do nothing. Ignore
     }
 
@@ -179,6 +179,7 @@ public class Relay extends SendableBase implements MotorSafety {
    *
    * @param value The state to set the relay.
    */
+  @SuppressWarnings("PMD.CyclomaticComplexity")
   public void set(Value value) {
     switch (value) {
       case kOff:

wpilibj/src/main/java/edu/wpi/first/wpilibj/Resource.java

@@ -24,7 +24,7 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
  * unload/reload.
  */
 public final class Resource {
-  private static Resource resourceList = null;
+  private static Resource resourceList;
   private final boolean[] m_numAllocated;
   private final int m_size;
   private final Resource m_nextResource;

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -8,9 +8,10 @@
 package edu.wpi.first.wpilibj;
 
 import java.io.File;
-import java.io.FileOutputStream;
 import java.io.IOException;
+import java.io.OutputStream;
 import java.net.URL;
+import java.nio.file.Files;
 import java.util.Enumeration;
 import java.util.jar.Manifest;
 
@@ -188,9 +189,9 @@ public abstract class RobotBase implements AutoCloseable {
     if (propVal == null) {
       return defaultValue;
     }
-    if (propVal.equalsIgnoreCase("false")) {
+    if ("false".equalsIgnoreCase(propVal)) {
       return false;
-    } else if (propVal.equalsIgnoreCase("true")) {
+    } else if ("true".equalsIgnoreCase(propVal)) {
       return true;
     } else {
       throw new IllegalStateException(propVal);
@@ -218,7 +219,8 @@ public abstract class RobotBase implements AutoCloseable {
   /**
    * Starting point for the applications.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
+  @SuppressWarnings({"PMD.AvoidInstantiatingObjectsInLoops", "PMD.AvoidCatchingThrowable",
+                     "PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
   public static void main(String... args) {
     if (!HAL.initialize(500, 0)) {
       throw new IllegalStateException("Failed to initialize. Terminating");
@@ -232,7 +234,8 @@ public abstract class RobotBase implements AutoCloseable {
     } else {
       Enumeration<URL> resources = null;
       try {
-        resources = RobotBase.class.getClassLoader().getResources("META-INF/MANIFEST.MF");
+        resources = Thread.currentThread()
+            .getContextClassLoader().getResources("META-INF/MANIFEST.MF");
       } catch (IOException ex) {
         ex.printStackTrace();
       }
@@ -273,7 +276,7 @@ public abstract class RobotBase implements AutoCloseable {
 
       file.createNewFile();
 
-      try (FileOutputStream output = new FileOutputStream(file)) {
+      try (OutputStream output = Files.newOutputStream(file.toPath())) {
         output.write("Java ".getBytes());
         output.write(WPILibVersion.Version.getBytes());
       }

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java

@@ -25,6 +25,7 @@ import static java.util.Objects.requireNonNull;
  *             or {@link edu.wpi.first.wpilibj.drive.MecanumDrive} classes instead.
  */
 @Deprecated
+@SuppressWarnings({"PMD.GodClass", "PMD.TooManyMethods"})
 public class RobotDrive implements MotorSafety, AutoCloseable {
   protected MotorSafetyHelper m_safetyHelper;
 
@@ -53,11 +54,11 @@ public class RobotDrive implements MotorSafety, AutoCloseable {
   protected SpeedController m_rearLeftMotor;
   protected SpeedController m_rearRightMotor;
   protected boolean m_allocatedSpeedControllers;
-  protected static boolean kArcadeRatioCurve_Reported = false;
-  protected static boolean kTank_Reported = false;
-  protected static boolean kArcadeStandard_Reported = false;
-  protected static boolean kMecanumCartesian_Reported = false;
-  protected static boolean kMecanumPolar_Reported = false;
+  protected static boolean kArcadeRatioCurve_Reported;
+  protected static boolean kTank_Reported;
+  protected static boolean kArcadeStandard_Reported;
+  protected static boolean kMecanumCartesian_Reported;
+  protected static boolean kMecanumPolar_Reported;
 
   /**
    * Constructor for RobotDrive with 2 motors specified with channel numbers. Set up parameters for

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.wpilibj.util.BaseSystemNotInitializedException;
 
 @SuppressWarnings("JavadocMethod")
-public class RobotState {
+public final class RobotState {
   private static Interface m_impl;
 
   @SuppressWarnings("MethodName")
@@ -69,4 +69,7 @@ public class RobotState {
 
     boolean isTest();
   }
+
+  private RobotState() {
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java

@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.hal.SPIJNI;
 /**
  * Represents a SPI bus port.
  */
+@SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.TooManyMethods"})
 public class SPI implements AutoCloseable {
   public enum Port {
     kOnboardCS0(0), kOnboardCS1(1), kOnboardCS2(2), kOnboardCS3(3), kMXP(4);
@@ -28,7 +29,7 @@ public class SPI implements AutoCloseable {
     }
   }
 
-  private static int devices = 0;
+  private static int devices;
 
   private int m_port;
   private int m_bitOrder;
@@ -268,6 +269,7 @@ public class SPI implements AutoCloseable {
    * @param dataReceived Buffer to receive data from the device.
    * @param size         The length of the transaction, in bytes
    */
+  @SuppressWarnings("PMD.CyclomaticComplexity")
   public int transaction(ByteBuffer dataToSend, ByteBuffer dataReceived, int size) {
     if (dataToSend.hasArray() && dataReceived.hasArray()) {
       return transaction(dataToSend.array(), dataReceived.array(), size);
@@ -420,6 +422,7 @@ public class SPI implements AutoCloseable {
 
   private static final int kAccumulateDepth = 2048;
 
+  @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) {
@@ -462,6 +465,7 @@ public class SPI implements AutoCloseable {
     final boolean m_bigEndian;  // is response big endian?
     final int m_port;
 
+    @SuppressWarnings("PMD.CyclomaticComplexity")
     void update() {
       synchronized (m_mutex) {
         boolean done = false;
@@ -527,7 +531,7 @@ public class SPI implements AutoCloseable {
     }
   }
 
-  private Accumulator m_accum = null;
+  private Accumulator m_accum;
 
   /**
    * Initialize the accumulator.

wpilibj/src/main/java/edu/wpi/first/wpilibj/SafePWM.java

@@ -32,6 +32,7 @@ public class SafePWM extends PWM implements MotorSafety {
    *
    * @param timeout The timeout (in seconds) for this motor object
    */
+  @Override
   public void setExpiration(double timeout) {
     m_safetyHelper.setExpiration(timeout);
   }
@@ -41,6 +42,7 @@ public class SafePWM extends PWM implements MotorSafety {
    *
    * @return The expiration time value.
    */
+  @Override
   public double getExpiration() {
     return m_safetyHelper.getExpiration();
   }
@@ -50,6 +52,7 @@ public class SafePWM extends PWM implements MotorSafety {
    *
    * @return a bool value that is true if the motor has NOT timed out and should still be running.
    */
+  @Override
   public boolean isAlive() {
     return m_safetyHelper.isAlive();
   }
@@ -58,6 +61,7 @@ public class SafePWM extends PWM implements MotorSafety {
    * Stop the motor associated with this PWM object. This is called by the MotorSafetyHelper object
    * when it has a timeout for this PWM and needs to stop it from running.
    */
+  @Override
   public void stopMotor() {
     disable();
   }
@@ -67,6 +71,7 @@ public class SafePWM extends PWM implements MotorSafety {
    *
    * @return True if motor safety is enforced for this object
    */
+  @Override
   public boolean isSafetyEnabled() {
     return m_safetyHelper.isSafetyEnabled();
   }
@@ -91,10 +96,12 @@ public class SafePWM extends PWM implements MotorSafety {
     m_safetyHelper.feed();
   }
 
+  @Override
   public void setSafetyEnabled(boolean enabled) {
     m_safetyHelper.setSafetyEnabled(enabled);
   }
 
+  @Override
   public String getDescription() {
     return "PWM " + getChannel();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/SampleRobot.java

@@ -114,6 +114,8 @@ public class SampleRobot extends RobotBase {
    * state to change, either the other mode starts or the robot is disabled. Then go back and wait
    * for the robot to be enabled again.
    */
+  @SuppressWarnings("PMD.CyclomaticComplexity")
+  @Override
   public void startCompetition() {
     robotInit();
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java

@@ -24,6 +24,7 @@ import edu.wpi.first.wpilibj.hal.SerialPortJNI;
  * .com/pdf/manuals/370423a.pdf and the NI-VISA Programmer's Reference Manual here:
  * http://www.ni.com/pdf/manuals/370132c.pdf
  */
+@SuppressWarnings("PMD.TooManyMethods")
 public class SerialPort implements AutoCloseable {
   private byte m_port;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java

@@ -13,15 +13,16 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * Allows multiple {@link SpeedController} objects to be linked together.
  */
 public class SpeedControllerGroup extends SendableBase implements SpeedController {
-  private boolean m_isInverted = false;
+  private boolean m_isInverted;
   private final SpeedController[] m_speedControllers;
-  private static int instances = 0;
+  private static int instances;
 
   /**
    * Create a new SpeedControllerGroup with the provided SpeedControllers.
    *
    * @param speedControllers The SpeedControllers to add
    */
+  @SuppressWarnings("PMD.AvoidArrayLoops")
   public SpeedControllerGroup(SpeedController speedController,
                               SpeedController... speedControllers) {
     m_speedControllers = new SpeedController[speedControllers.length + 1];

wpilibj/src/main/java/edu/wpi/first/wpilibj/Threads.java

@@ -9,7 +9,7 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.wpilibj.hal.ThreadsJNI;
 
-public class Threads {
+public final class Threads {
   /**
   * Get the thread priority for the current thread.
   * @return The current thread priority. Scaled 1-99.
@@ -39,4 +39,7 @@ public class Threads {
   public static boolean setCurrentThreadPriority(boolean realTime, int priority) {
     return ThreadsJNI.setCurrentThreadPriority(realTime, priority);
   }
+
+  private Threads() {
+  }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

@@ -23,14 +23,14 @@ public class TimedRobot extends IterativeRobotBase {
   public static final double kDefaultPeriod = 0.02;
 
   // Prevents loop from starting if user calls setPeriod() in robotInit()
-  private boolean m_startLoop = false;
+  private boolean m_startLoop;
 
   // The C pointer to the notifier object. We don't use it directly, it is
   // just passed to the JNI bindings.
   private final int m_notifier = NotifierJNI.initializeNotifier();
 
   // The absolute expiration time
-  private double m_expirationTime = 0;
+  private double m_expirationTime;
 
   private double m_period = kDefaultPeriod;
 
@@ -49,6 +49,7 @@ public class TimedRobot extends IterativeRobotBase {
   /**
    * Provide an alternate "main loop" via startCompetition().
    */
+  @Override
   public void startCompetition() {
     robotInit();
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java

@@ -41,19 +41,19 @@ public class Ultrasonic extends SendableBase implements PIDSource {
   private static final double kPingTime = 10 * 1e-6;
   private static final double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
   // head of the ultrasonic sensor list
-  private static Ultrasonic m_firstSensor = null;
+  private static Ultrasonic m_firstSensor;
   // automatic round robin mode
-  private static boolean m_automaticEnabled = false;
+  private static boolean m_automaticEnabled;
   private DigitalInput m_echoChannel;
-  private DigitalOutput m_pingChannel = null;
+  private DigitalOutput m_pingChannel;
   private boolean m_allocatedChannels;
-  private boolean m_enabled = false;
-  private Counter m_counter = null;
-  private Ultrasonic m_nextSensor = null;
+  private boolean m_enabled;
+  private Counter m_counter;
+  private Ultrasonic m_nextSensor;
   // task doing the round-robin automatic sensing
-  private static Thread m_task = null;
+  private static Thread m_task;
   private Unit m_units;
-  private static int m_instances = 0;
+  private static int m_instances;
   protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
   /**
@@ -190,6 +190,7 @@ public class Ultrasonic extends SendableBase implements PIDSource {
    * stopped, then started again after this sensor is removed (provided this wasn't the last
    * sensor).
    */
+  @SuppressWarnings("PMD.CyclomaticComplexity")
   @Override
   public synchronized void close() {
     super.close();

wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java

@@ -33,7 +33,7 @@ public class XboxController extends GenericHID {
     kBack(7),
     kStart(8);
 
-    @SuppressWarnings("MemberName")
+    @SuppressWarnings({"MemberName", "PMD.SingularField"})
     private int value;
 
     Button(int value) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/InternalButton.java

@@ -40,6 +40,7 @@ public class InternalButton extends Button {
     m_pressed = pressed;
   }
 
+  @Override
   public boolean get() {
     return m_pressed ^ m_inverted;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/JoystickButton.java

@@ -33,6 +33,7 @@ public class JoystickButton extends Button {
    *
    * @return The value of the joystick button
    */
+  @Override
   public boolean get() {
     return m_joystick.getRawButton(m_buttonNumber);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/NetworkButton.java

@@ -25,6 +25,7 @@ public class NetworkButton extends Button {
     m_entry = table.getEntry(field);
   }
 
+  @Override
   public boolean get() {
     return m_entry.getInstance().isConnected() && m_entry.getBoolean(false);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java

@@ -24,7 +24,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * the full functionality of the Trigger class.
  */
 public abstract class Trigger extends SendableBase {
-  private volatile boolean m_sendablePressed = false;
+  private volatile boolean m_sendablePressed;
 
   /**
    * Returns whether or not the trigger is active.

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Command.java

@@ -39,6 +39,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * @see CommandGroup
  * @see IllegalUseOfCommandException
  */
+@SuppressWarnings("PMD.TooManyMethods")
 public abstract class Command extends SendableBase {
   /**
    * The time since this command was initialized.
@@ -53,7 +54,7 @@ public abstract class Command extends SendableBase {
   /**
    * Whether or not this command has been initialized.
    */
-  private boolean m_initialized = false;
+  private boolean m_initialized;
 
   /**
    * The required subsystems.
@@ -63,7 +64,7 @@ public abstract class Command extends SendableBase {
   /**
    * Whether or not it is running.
    */
-  private boolean m_running = false;
+  private boolean m_running;
 
   /**
    * Whether or not it is interruptible.
@@ -73,22 +74,22 @@ public abstract class Command extends SendableBase {
   /**
    * Whether or not it has been canceled.
    */
-  private boolean m_canceled = false;
+  private boolean m_canceled;
 
   /**
    * Whether or not it has been locked.
    */
-  private boolean m_locked = false;
+  private boolean m_locked;
 
   /**
    * Whether this command should run when the robot is disabled.
    */
-  private boolean m_runWhenDisabled = false;
+  private boolean m_runWhenDisabled;
 
   /**
    * Whether or not this command has completed running.
    */
-  private boolean m_completed = false;
+  private boolean m_completed;
 
   /**
    * The {@link CommandGroup} this is in.

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/CommandGroup.java

@@ -31,10 +31,12 @@ import static java.util.Objects.requireNonNull;
  * @see Subsystem
  * @see IllegalUseOfCommandException
  */
+@SuppressWarnings("PMD.TooManyMethods")
 public class CommandGroup extends Command {
   /**
    * The commands in this group (stored in entries).
    */
+  @SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
   private final Vector<Entry> m_commands = new Vector<>();
   /*
    * Intentionally package private
@@ -42,6 +44,7 @@ public class CommandGroup extends Command {
   /**
    * 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.
@@ -206,12 +209,14 @@ public class CommandGroup extends Command {
     }
   }
 
+  @Override
   @SuppressWarnings("MethodName")
   void _initialize() {
     m_currentCommandIndex = -1;
   }
 
-  @SuppressWarnings("MethodName")
+  @Override
+  @SuppressWarnings({"MethodName", "PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
   void _execute() {
     Entry entry = null;
     Command cmd = null;
@@ -278,6 +283,7 @@ public class CommandGroup extends Command {
     }
   }
 
+  @Override
   @SuppressWarnings("MethodName")
   void _end() {
     // Theoretically, we don't have to check this, but we do if teams override
@@ -297,6 +303,7 @@ public class CommandGroup extends Command {
     m_children.removeAllElements();
   }
 
+  @Override
   @SuppressWarnings("MethodName")
   void _interrupted() {
     _end();
@@ -311,23 +318,28 @@ public class CommandGroup extends Command {
    *
    * @return whether this {@link CommandGroup} is finished
    */
+  @Override
   protected boolean isFinished() {
     return m_currentCommandIndex >= m_commands.size() && m_children.isEmpty();
   }
 
   // Can be overwritten by teams
+  @Override
   protected void initialize() {
   }
 
   // Can be overwritten by teams
+  @Override
   protected void execute() {
   }
 
   // Can be overwritten by teams
+  @Override
   protected void end() {
   }
 
   // Can be overwritten by teams
+  @Override
   protected void interrupted() {
   }
 
@@ -338,6 +350,7 @@ public class CommandGroup extends Command {
    *
    * @return whether or not this {@link CommandGroup} is interruptible.
    */
+  @Override
   public synchronized boolean isInterruptible() {
     if (!super.isInterruptible()) {
       return false;

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/ConditionalCommand.java

@@ -45,7 +45,7 @@ public abstract class ConditionalCommand extends Command {
   /**
    * Stores command chosen by condition.
    */
-  private Command m_chosenCommand = null;
+  private Command m_chosenCommand;
 
   private void requireAll() {
     if (m_onTrue != null) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/InstantCommand.java

@@ -25,6 +25,7 @@ public class InstantCommand extends Command {
     super(name);
   }
 
+  @Override
   protected boolean isFinished() {
     return true;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java

@@ -33,13 +33,16 @@ public abstract class PIDCommand extends Command {
    * 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 double pidGet() {
       return returnPIDInput();
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java

@@ -35,13 +35,16 @@ public abstract class PIDSubsystem extends Subsystem {
    * 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 double pidGet() {
       return returnPIDInput();
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/PrintCommand.java

@@ -16,7 +16,7 @@ public class PrintCommand extends InstantCommand {
   /**
    * The message to print out.
    */
-  private String m_message;
+  private final String m_message;
 
   /**
    * Instantiates a {@link PrintCommand} which will print the given message when it is run.
@@ -28,6 +28,7 @@ public class PrintCommand extends InstantCommand {
     m_message = message;
   }
 
+  @Override
   protected void initialize() {
     System.out.println(m_message);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Scheduler.java

@@ -29,7 +29,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  *
  * @see Command
  */
-public class Scheduler extends SendableBase {
+public final class Scheduler extends SendableBase {
   /**
    * The Singleton Instance.
    */
@@ -50,11 +50,12 @@ public class Scheduler extends SendableBase {
   /**
    * A hashtable of active {@link Command Commands} to their {@link LinkedListElement}.
    */
-  private Hashtable<Command, LinkedListElement> m_commandTable = new Hashtable<>();
+  @SuppressWarnings("PMD.LooseCoupling")
+  private final Hashtable<Command, LinkedListElement> m_commandTable = new Hashtable<>();
   /**
    * The {@link Set} of all {@link Subsystem Subsystems}.
    */
-  private Set m_subsystems = new Set();
+  private final Set m_subsystems = new Set();
   /**
    * The first {@link Command} in the list.
    */
@@ -66,15 +67,16 @@ public class Scheduler extends SendableBase {
   /**
    * Whether or not we are currently adding a command.
    */
-  private boolean m_adding = false;
+  private boolean m_adding;
   /**
    * Whether or not we are currently disabled.
    */
-  private boolean m_disabled = false;
+  private boolean m_disabled;
   /**
    * A list of all {@link Command Commands} which need to be added.
    */
-  private Vector<Command> m_additions = new Vector<>();
+  @SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
+  private final Vector<Command> m_additions = new Vector<>();
   private NetworkTableEntry m_namesEntry;
   private NetworkTableEntry m_idsEntry;
   private NetworkTableEntry m_cancelEntry;
@@ -82,6 +84,7 @@ public class Scheduler extends SendableBase {
    * A list of all {@link edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler Buttons}. It is
    * created lazily.
    */
+  @SuppressWarnings("PMD.LooseCoupling")
   private Vector<ButtonScheduler> m_buttons;
   private boolean m_runningCommandsChanged;
 
@@ -115,6 +118,7 @@ public class Scheduler extends SendableBase {
    *
    * @param button the button to add
    */
+  @SuppressWarnings("PMD.UseArrayListInsteadOfVector")
   public void addButton(ButtonScheduler button) {
     if (m_buttons == null) {
       m_buttons = new Vector<>();
@@ -129,7 +133,7 @@ public class Scheduler extends SendableBase {
    *
    * @param command the {@link Command} to add
    */
-  @SuppressWarnings("MethodName")
+  @SuppressWarnings({"MethodName", "PMD.CyclomaticComplexity"})
   private void _add(Command command) {
     if (command == null) {
       return;
@@ -189,6 +193,7 @@ public class Scheduler extends SendableBase {
    * <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>
    */
+  @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
   public void run() {
     m_runningCommandsChanged = false;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/StartCommand.java

@@ -15,7 +15,7 @@ public class StartCommand extends InstantCommand {
   /**
    * The command to fork.
    */
-  private Command m_commandToFork;
+  private final Command m_commandToFork;
 
   /**
    * Instantiates a {@link StartCommand} which will start the given command whenever its {@link
@@ -28,6 +28,7 @@ public class StartCommand extends InstantCommand {
     m_commandToFork = commandToStart;
   }
 
+  @Override
   protected void initialize() {
     m_commandToFork.start();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/Subsystem.java

@@ -32,7 +32,7 @@ public abstract class Subsystem extends SendableBase {
   /**
    * Whether or not getDefaultCommand() was called.
    */
-  private boolean m_initializedDefaultCommand = false;
+  private boolean m_initializedDefaultCommand;
   /**
    * The current command.
    */

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/TimedCommand.java

@@ -34,6 +34,7 @@ public class TimedCommand extends Command {
   /**
   * Ends command when timed out.
   */
+  @Override
   protected boolean isFinished() {
     return isTimedOut();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/WaitForChildren.java

@@ -16,6 +16,7 @@ package edu.wpi.first.wpilibj.command;
  * to finish, before continuing in the main {@link CommandGroup} sequence.
  */
 public class WaitForChildren extends Command {
+  @Override
   protected boolean isFinished() {
     return getGroup() == null || getGroup().m_children.isEmpty();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/command/WaitUntilCommand.java

@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.Timer;
  * some value, then continue to the next command.
  */
 public class WaitUntilCommand extends Command {
-  private double m_time;
+  private final double m_time;
 
   public WaitUntilCommand(double time) {
     super("WaitUntil(" + time + ")");
@@ -24,6 +24,7 @@ public class WaitUntilCommand extends Command {
   /**
    * Check if we've reached the actual finish time.
    */
+  @Override
   public boolean isFinished() {
     return Timer.getMatchTime() >= m_time;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java

@@ -95,16 +95,16 @@ public class DifferentialDrive extends RobotDriveBase {
   public static final double kDefaultQuickStopThreshold = 0.2;
   public static final double kDefaultQuickStopAlpha = 0.1;
 
-  private static int instances = 0;
+  private static int instances;
 
-  private SpeedController m_leftMotor;
-  private SpeedController m_rightMotor;
+  private final SpeedController m_leftMotor;
+  private final SpeedController m_rightMotor;
 
   private double m_quickStopThreshold = kDefaultQuickStopThreshold;
   private double m_quickStopAlpha = kDefaultQuickStopAlpha;
-  private double m_quickStopAccumulator = 0.0;
+  private double m_quickStopAccumulator;
   private double m_rightSideInvertMultiplier = -1.0;
-  private boolean m_reported = false;
+  private boolean m_reported;
 
   /**
    * Construct a DifferentialDrive.
@@ -207,7 +207,7 @@ public class DifferentialDrive extends RobotDriveBase {
    * @param isQuickTurn If set, overrides constant-curvature turning for
    *                    turn-in-place maneuvers.
    */
-  @SuppressWarnings("ParameterName")
+  @SuppressWarnings({"ParameterName", "PMD.CyclomaticComplexity"})
   public void curvatureDrive(double xSpeed, double zRotation, boolean isQuickTurn) {
     if (!m_reported) {
       // HAL.report(tResourceType.kResourceType_RobotDrive, 2, tInstances.kRobotDrive_Curvature);

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java

@@ -42,7 +42,7 @@ public class KilloughDrive extends RobotDriveBase {
   public static final double kDefaultRightMotorAngle = 120.0;
   public static final double kDefaultBackMotorAngle = 270.0;
 
-  private static int instances = 0;
+  private static int instances;
 
   private SpeedController m_leftMotor;
   private SpeedController m_rightMotor;
@@ -52,7 +52,7 @@ public class KilloughDrive extends RobotDriveBase {
   private Vector2d m_rightVec;
   private Vector2d m_backVec;
 
-  private boolean m_reported = false;
+  private boolean m_reported;
 
   /**
    * Construct a Killough drive with the given motors and default motor angles.

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java

@@ -57,15 +57,15 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * deadband of 0 is used.
  */
 public class MecanumDrive extends RobotDriveBase {
-  private static int instances = 0;
+  private static int instances;
 
-  private SpeedController m_frontLeftMotor;
-  private SpeedController m_rearLeftMotor;
-  private SpeedController m_frontRightMotor;
-  private SpeedController m_rearRightMotor;
+  private final SpeedController m_frontLeftMotor;
+  private final SpeedController m_rearLeftMotor;
+  private final SpeedController m_frontRightMotor;
+  private final SpeedController m_rearRightMotor;
 
   private double m_rightSideInvertMultiplier = -1.0;
-  private boolean m_reported = false;
+  private boolean m_reported;
 
   /**
    * Construct a MecanumDrive.

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/Vector2d.java

@@ -12,8 +12,8 @@ package edu.wpi.first.wpilibj.drive;
  */
 @SuppressWarnings("MemberName")
 public class Vector2d {
-  public double x = 0.0;
-  public double y = 0.0;
+  public double x;
+  public double y;
 
   public Vector2d() {}
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/Filter.java

@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.PIDSourceType;
  * Superclass for filters.
  */
 public abstract class Filter implements PIDSource {
-  private PIDSource m_source;
+  private final PIDSource m_source;
 
   public Filter(PIDSource source) {
     m_source = source;

wpilibj/src/main/java/edu/wpi/first/wpilibj/filters/LinearDigitalFilter.java

@@ -50,10 +50,10 @@ import edu.wpi.first.wpilibj.PIDSource;
  * to make sure PIDGet() gets called at the desired, constant frequency!
  */
 public class LinearDigitalFilter extends Filter {
-  private CircularBuffer m_inputs;
-  private CircularBuffer m_outputs;
-  private double[] m_inputGains;
-  private double[] m_outputGains;
+  private final CircularBuffer m_inputs;
+  private final CircularBuffer m_outputs;
+  private final double[] m_inputGains;
+  private final double[] m_outputGains;
 
   /**
    * Create a linear FIR or IIR filter.
@@ -62,8 +62,8 @@ public class LinearDigitalFilter extends Filter {
    * @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, //NOPMD - PR1105 will fix this
+                             double[] fbGains) { //NOPMD - PR1105 will fix this
     super(source);
     m_inputs = new CircularBuffer(ffGains.length);
     m_outputs = new CircularBuffer(fbGains.length);

wpilibj/src/main/java/edu/wpi/first/wpilibj/internal/HardwareTimer.java

@@ -80,6 +80,7 @@ public class HardwareTimer implements Timer.StaticInterface {
      *
      * @return Current time value for this timer in seconds
      */
+    @Override
     public synchronized double get() {
       if (m_running) {
         return ((getMsClock() - m_startTime) + m_accumulatedTime) / 1000.0;
@@ -92,6 +93,7 @@ public class HardwareTimer implements Timer.StaticInterface {
      * Reset the timer by setting the time to 0. Make the timer start time the current time so new
      * requests will be relative now
      */
+    @Override
     public synchronized void reset() {
       m_accumulatedTime = 0;
       m_startTime = getMsClock();
@@ -101,6 +103,7 @@ public class HardwareTimer implements Timer.StaticInterface {
      * Start the timer running. Just set the running flag to true indicating that all time
      * requests should be relative to the system clock.
      */
+    @Override
     public synchronized void start() {
       m_startTime = getMsClock();
       m_running = true;
@@ -111,6 +114,7 @@ public class HardwareTimer implements Timer.StaticInterface {
      * subsequent time requests to be read from the accumulated time rather than looking at the
      * system clock.
      */
+    @Override
     public synchronized void stop() {
       final double temp = get();
       m_accumulatedTime = temp;
@@ -125,6 +129,7 @@ public class HardwareTimer implements Timer.StaticInterface {
      * @param period The period to check for (in seconds).
      * @return If the period has passed.
      */
+    @Override
     public synchronized boolean hasPeriodPassed(double period) {
       if (get() > period) {
         // Advance the start time by the period.

wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java

@@ -22,6 +22,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
  * The LiveWindow class is the public interface for putting sensors and actuators on the
  * LiveWindow.
  */
+@SuppressWarnings("PMD.TooManyMethods")
 public class LiveWindow {
   private static class Component {
     Component(Sendable sendable, Sendable parent) {
@@ -36,13 +37,14 @@ public class LiveWindow {
     boolean m_telemetryEnabled = true;
   }
 
+  @SuppressWarnings("PMD.UseConcurrentHashMap")
   private static final Map<Object, Component> components = new HashMap<>();
   private static final NetworkTable liveWindowTable =
       NetworkTableInstance.getDefault().getTable("LiveWindow");
   private static final NetworkTable statusTable = liveWindowTable.getSubTable(".status");
   private static final NetworkTableEntry enabledEntry = statusTable.getEntry("LW Enabled");
-  private static boolean startLiveWindow = false;
-  private static boolean liveWindowEnabled = false;
+  private static boolean startLiveWindow;
+  private static boolean liveWindowEnabled;
   private static boolean telemetryEnabled = true;
 
   private LiveWindow() {
@@ -245,6 +247,7 @@ public class LiveWindow {
    * <p>Actuators are handled through callbacks on their value changing from the
    * SmartDashboard widgets.
    */
+  @SuppressWarnings("PMD.CyclomaticComplexity")
   public static synchronized void updateValues() {
     // Only do this if either LiveWindow mode or telemetry is enabled.
     if (!liveWindowEnabled && !telemetryEnabled) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java

@@ -21,6 +21,7 @@ import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableValue;
 
+@SuppressWarnings("PMD.TooManyMethods")
 public class SendableBuilderImpl implements SendableBuilder {
   private static class Property {
     Property(NetworkTable table, String key) {
@@ -29,7 +30,7 @@ public class SendableBuilderImpl implements SendableBuilder {
 
     @Override
     @SuppressWarnings("NoFinalizer")
-    public synchronized void finalize() {
+    protected synchronized void finalize() {
       stopListener();
     }
 
@@ -47,7 +48,7 @@ public class SendableBuilderImpl implements SendableBuilder {
     }
 
     final NetworkTableEntry m_entry;
-    int m_listener = 0;
+    int m_listener;
     Consumer<NetworkTableEntry> m_update;
     Function<NetworkTableEntry, Integer> m_createListener;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java

@@ -43,6 +43,7 @@ public class SendableChooser<V> extends SendableBase {
   /**
    * A map linking strings to the objects the represent.
    */
+  @SuppressWarnings("PMD.LooseCoupling")
   private final LinkedHashMap<String, V> m_map = new LinkedHashMap<>();
   private String m_defaultChoice = "";
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java

@@ -25,6 +25,7 @@ import edu.wpi.first.wpilibj.Sendable;
  * <p>When a value is put into the SmartDashboard here, it pops up on the SmartDashboard on the
  * laptop. Users can put values into and get values from the SmartDashboard.
  */
+@SuppressWarnings({"PMD.GodClass", "PMD.TooManyMethods"})
 public class SmartDashboard {
   /**
    * The {@link NetworkTable} used by {@link SmartDashboard}.
@@ -45,6 +46,7 @@ public class SmartDashboard {
    * A table linking tables in the SmartDashboard to the {@link Sendable} objects they
    * came from.
    */
+  @SuppressWarnings("PMD.UseConcurrentHashMap")
   private static final Map<String, Data> tablesToData = new HashMap<>();
 
   static {

wpilibj/src/main/java/edu/wpi/first/wpilibj/util/SortedVector.java

@@ -47,6 +47,7 @@ public class SortedVector<E> extends Vector<E> {
    *
    * @param element The element to add to the Vector
    */
+  @Override
   public void addElement(E element) {
     int highBound = size();
     int lowBound = 0;