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Update and enable PMD 6.3.0 (#1107)

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This commit is contained in:
Austin Shalit
2018-06-03 10:00:53 -07:00
committed by Peter Johnson
parent 8eafe7f325
commit e548a5f705
156 changed files with 619 additions and 325 deletions
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38
wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
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@@ -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 {