Made SensorBase a utility class and renamed it to SensorUtil (#813)

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java

@@ -21,7 +21,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * ADXL345 I2C Accelerometer.
  */
 @SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
-public class ADXL345_I2C extends SensorBase implements Accelerometer, Sendable {
+public class ADXL345_I2C extends SendableBase implements Accelerometer {
   private static final byte kAddress = 0x1D;
   private static final byte kPowerCtlRegister = 0x2D;
   private static final byte kDataFormatRegister = 0x31;

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java

@@ -21,7 +21,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * ADXL345 SPI Accelerometer.
  */
 @SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
-public class ADXL345_SPI extends SensorBase implements Accelerometer, Sendable {
+public class ADXL345_SPI extends SendableBase implements Accelerometer {
   private static final int kPowerCtlRegister = 0x2D;
   private static final int kDataFormatRegister = 0x31;
   private static final int kDataRegister = 0x32;

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java

@@ -22,7 +22,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * <p>This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
  */
 @SuppressWarnings("PMD.UnusedPrivateField")
-public class ADXL362 extends SensorBase implements Accelerometer, Sendable {
+public class ADXL362 extends SendableBase implements Accelerometer {
   private static final byte kRegWrite = 0x0A;
   private static final byte kRegRead = 0x0B;
 

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

@@ -18,7 +18,7 @@ import static java.util.Objects.requireNonNull;
  * through the sensor. Many sensors have multiple axis and can be treated as multiple devices. Each
  * is calibrated by finding the center value over a period of time.
  */
-public class AnalogAccelerometer extends SensorBase implements PIDSource, Sendable {
+public class AnalogAccelerometer extends SendableBase implements PIDSource {
   private AnalogInput m_analogChannel;
   private double m_voltsPerG = 1.0;
   private double m_zeroGVoltage = 2.5;

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

@@ -26,7 +26,7 @@ import edu.wpi.first.wpilibj.util.AllocationException;
  * accumulated effectively increasing the resolution, while the averaged samples are divided by the
  * number of samples to retain the resolution, but get more stable values.
  */
-public class AnalogInput extends SensorBase implements PIDSource, Sendable {
+public class AnalogInput extends SendableBase implements PIDSource {
   private static final int kAccumulatorSlot = 1;
   int m_port; // explicit no modifier, private and package accessible.
   private int m_channel;
@@ -40,7 +40,7 @@ public class AnalogInput extends SensorBase implements PIDSource, Sendable {
    * @param channel The channel number to represent. 0-3 are on-board 4-7 are on the MXP port.
    */
   public AnalogInput(final int channel) {
-    checkAnalogInputChannel(channel);
+    AnalogJNI.checkAnalogInputChannel(channel);
     m_channel = channel;
 
     final int portHandle = HAL.getPort((byte) channel);
@@ -50,9 +50,6 @@ public class AnalogInput extends SensorBase implements PIDSource, Sendable {
     setName("AnalogInput", channel);
   }
 
-  /**
-   * Channel destructor.
-   */
   @Override
   public void close() {
     super.close();

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

@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 /**
  * Analog output class.
  */
-public class AnalogOutput extends SendableBase implements Sendable {
+public class AnalogOutput extends SendableBase {
   private int m_port;
   private int m_channel;
 
@@ -26,7 +26,7 @@ public class AnalogOutput extends SendableBase implements Sendable {
    * @param channel The channel number to represent.
    */
   public AnalogOutput(final int channel) {
-    SensorBase.checkAnalogOutputChannel(channel);
+    SensorUtil.checkAnalogOutputChannel(channel);
     m_channel = channel;
 
     final int portHandle = HAL.getPort((byte) channel);
@@ -36,9 +36,6 @@ public class AnalogOutput extends SendableBase implements Sendable {
     setName("AnalogOutput", channel);
   }
 
-  /**
-   * Channel destructor.
-   */
   @Override
   public void close() {
     super.close();

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

@@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * corresponds to a position. The position is in whichever units you choose, by way of the scaling
  * and offset constants passed to the constructor.
  */
-public class AnalogPotentiometer extends SensorBase implements Potentiometer, Sendable {
+public class AnalogPotentiometer extends SendableBase implements Potentiometer {
   private AnalogInput m_analogInput;
   private boolean m_initAnalogInput;
   private double m_fullRange;
@@ -154,9 +154,6 @@ public class AnalogPotentiometer extends SensorBase implements Potentiometer, Se
     }
   }
 
-  /**
-   * Frees this resource.
-   */
   @Override
   public void close() {
     super.close();

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

@@ -20,7 +20,7 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
 /**
  * Class for creating and configuring Analog Triggers.
  */
-public class AnalogTrigger extends SensorBase implements Sendable {
+public class AnalogTrigger extends SendableBase {
   /**
    * Exceptions dealing with improper operation of the Analog trigger.
    */
@@ -74,9 +74,6 @@ public class AnalogTrigger extends SensorBase implements Sendable {
     setName("AnalogTrigger", channel.getChannel());
   }
 
-  /**
-   * Release the resources used by this object.
-   */
   @Override
   public void close() {
     super.close();

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

@@ -19,7 +19,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  *
  * <p>This class allows access to the roboRIO's internal accelerometer.
  */
-public class BuiltInAccelerometer extends SensorBase implements Accelerometer, Sendable {
+public class BuiltInAccelerometer extends SendableBase implements Accelerometer {
   /**
    * Constructor.
    *

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

@@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * the safety provided by using the pressure switch and closed loop control. You can only turn off
  * closed loop control, thereby stopping the compressor from operating.
  */
-public class Compressor extends SendableBase implements Sendable {
+public class Compressor extends SendableBase {
   private int m_compressorHandle;
   private byte m_module;
 
@@ -49,7 +49,7 @@ public class Compressor extends SendableBase implements Sendable {
    * specifying the CAN ID.}
    */
   public Compressor() {
-    this(SensorBase.getDefaultSolenoidModule());
+    this(SensorUtil.getDefaultSolenoidModule());
   }
 
   /**

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

@@ -28,7 +28,7 @@ import static java.util.Objects.requireNonNull;
  * <p>All counters will immediately start counting - reset() them if you need them to be zeroed
  * before use.
  */
-public class Counter extends SensorBase implements CounterBase, Sendable, PIDSource {
+public class Counter extends SendableBase implements CounterBase, PIDSource {
   /**
    * Mode determines how and what the counter counts.
    */

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

@@ -20,7 +20,7 @@ import edu.wpi.first.wpilibj.hal.HAL;
  * removing digital inputs from a FPGA glitch filter. The filter lets the user configure the time
  * that an input must remain high or low before it is classified as high or low.
  */
-public class DigitalGlitchFilter extends SensorBase {
+public class DigitalGlitchFilter extends SendableBase {
   /**
    * Configures the Digital Glitch Filter to its default settings.
    */
@@ -40,9 +40,7 @@ public class DigitalGlitchFilter extends SensorBase {
     }
   }
 
-  /**
-   * Free the resources used by this object.
-   */
+  @Override
   public void close() {
     super.close();
     if (m_channelIndex >= 0) {
@@ -144,7 +142,7 @@ public class DigitalGlitchFilter extends SensorBase {
    * @param nanoseconds The number of nanoseconds.
    */
   public void setPeriodNanoSeconds(long nanoseconds) {
-    int fpgaCycles = (int) (nanoseconds * kSystemClockTicksPerMicrosecond / 4
+    int fpgaCycles = (int) (nanoseconds * SensorUtil.kSystemClockTicksPerMicrosecond / 4
         / 1000);
     setPeriodCycles(fpgaCycles);
   }
@@ -169,7 +167,7 @@ public class DigitalGlitchFilter extends SensorBase {
     int fpgaCycles = getPeriodCycles();
 
     return (long) fpgaCycles * 1000L
-        / (long) (kSystemClockTicksPerMicrosecond / 4);
+        / (long) (SensorUtil.kSystemClockTicksPerMicrosecond / 4);
   }
 
   @SuppressWarnings("PMD.UnusedFormalParameter")

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

@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * elsewhere will automatically allocate digital inputs and outputs as required. This class is only
  * for devices like switches etc. that aren't implemented anywhere else.
  */
-public class DigitalInput extends DigitalSource implements Sendable {
+public class DigitalInput extends DigitalSource {
   private int m_channel = 0;
   private int m_handle = 0;
 
@@ -28,7 +28,7 @@ public class DigitalInput extends DigitalSource implements Sendable {
    * @param channel the DIO channel for the digital input 0-9 are on-board, 10-25 are on the MXP
    */
   public DigitalInput(int channel) {
-    checkDigitalChannel(channel);
+    SensorUtil.checkDigitalChannel(channel);
     m_channel = channel;
 
     m_handle = DIOJNI.initializeDIOPort(HAL.getPort((byte) channel), true);
@@ -37,9 +37,7 @@ public class DigitalInput extends DigitalSource implements Sendable {
     setName("DigitalInput", channel);
   }
 
-  /**
-   * Frees the resources for this output.
-   */
+  @Override
   public void close() {
     super.close();
     if (m_interrupt != 0) {

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

@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * Class to write digital outputs. This class will write digital outputs. Other devices that are
  * implemented elsewhere will automatically allocate digital inputs and outputs as required.
  */
-public class DigitalOutput extends SendableBase implements Sendable {
+public class DigitalOutput extends SendableBase {
   private static final int invalidPwmGenerator = 0;
   private int m_pwmGenerator = invalidPwmGenerator;
 
@@ -31,7 +31,7 @@ public class DigitalOutput extends SendableBase implements Sendable {
    *                the MXP
    */
   public DigitalOutput(int channel) {
-    SensorBase.checkDigitalChannel(channel);
+    SensorUtil.checkDigitalChannel(channel);
     m_channel = channel;
 
     m_handle = DIOJNI.initializeDIOPort(HAL.getPort((byte) channel), false);
@@ -40,13 +40,10 @@ public class DigitalOutput extends SendableBase implements Sendable {
     setName("DigitalOutput", channel);
   }
 
-  /**
-   * Free the resources associated with a digital output.
-   */
   @Override
   public void close() {
     super.close();
-    // disable the pwm only if we have allocated it
+    // Disable the pwm only if we have allocated it
     if (m_pwmGenerator != invalidPwmGenerator) {
       disablePWM();
     }
@@ -143,7 +140,7 @@ public class DigitalOutput extends SendableBase implements Sendable {
       return;
     }
     // Disable the output by routing to a dead bit.
-    DIOJNI.setDigitalPWMOutputChannel(m_pwmGenerator, SensorBase.kDigitalChannels);
+    DIOJNI.setDigitalPWMOutputChannel(m_pwmGenerator, SensorUtil.kDigitalChannels);
     DIOJNI.freeDigitalPWM(m_pwmGenerator);
     m_pwmGenerator = invalidPwmGenerator;
   }

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

@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * <p>The DoubleSolenoid class is typically used for pneumatics solenoids that have two positions
  * controlled by two separate channels.
  */
-public class DoubleSolenoid extends SolenoidBase implements Sendable {
+public class DoubleSolenoid extends SolenoidBase {
   /**
    * Possible values for a DoubleSolenoid.
    */
@@ -40,7 +40,7 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable {
    * @param reverseChannel The reverse channel number on the PCM (0..7).
    */
   public DoubleSolenoid(final int forwardChannel, final int reverseChannel) {
-    this(SensorBase.getDefaultSolenoidModule(), forwardChannel, reverseChannel);
+    this(SensorUtil.getDefaultSolenoidModule(), forwardChannel, reverseChannel);
   }
 
   /**
@@ -54,9 +54,9 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable {
                         final int reverseChannel) {
     super(moduleNumber);
 
-    SensorBase.checkSolenoidModule(m_moduleNumber);
-    SensorBase.checkSolenoidChannel(forwardChannel);
-    SensorBase.checkSolenoidChannel(reverseChannel);
+    SensorUtil.checkSolenoidModule(m_moduleNumber);
+    SensorUtil.checkSolenoidChannel(forwardChannel);
+    SensorUtil.checkSolenoidChannel(reverseChannel);
 
     int portHandle = HAL.getPortWithModule((byte) m_moduleNumber, (byte) forwardChannel);
     m_forwardHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
@@ -82,9 +82,6 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable {
     setName("DoubleSolenoid", m_moduleNumber, forwardChannel);
   }
 
-  /**
-   * Destructor.
-   */
   @Override
   public synchronized void close() {
     super.close();

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

@@ -28,7 +28,7 @@ import static java.util.Objects.requireNonNull;
  * <p>All encoders will immediately start counting - reset() them if you need them to be zeroed
  * before use.
  */
-public class Encoder extends SensorBase implements CounterBase, PIDSource, Sendable {
+public class Encoder extends SendableBase implements CounterBase, PIDSource {
   public enum IndexingType {
     kResetWhileHigh(0), kResetWhileLow(1), kResetOnFallingEdge(2), kResetOnRisingEdge(3);
 
@@ -290,9 +290,6 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, Senda
     return EncoderJNI.getEncoderEncodingScale(m_encoder);
   }
 
-  /**
-   * Free the resources used by this object.
-   */
   @Override
   public void close() {
     super.close();

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

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 /**
  * GyroBase is the common base class for Gyro implementations such as AnalogGyro.
  */
-public abstract class GyroBase extends SensorBase implements Gyro, PIDSource, Sendable {
+public abstract class GyroBase extends SendableBase implements Gyro, PIDSource {
   private PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
 
   /**

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

@@ -57,9 +57,6 @@ public class I2C implements AutoCloseable {
     close();
   }
 
-  /**
-   * Destructor.
-   */
   @Override
   public void close() {
     I2CJNI.i2CClose(m_port);

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

@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.util.AllocationException;
 /**
  * Base for sensors to be used with interrupts.
  */
-public abstract class InterruptableSensorBase extends SensorBase {
+public abstract class InterruptableSensorBase extends SendableBase {
   @SuppressWarnings("JavadocMethod")
   public enum WaitResult {
     kTimeout(0x0), kRisingEdge(0x1), kFallingEdge(0x100), kBoth(0x101);
@@ -44,9 +44,6 @@ public abstract class InterruptableSensorBase extends SensorBase {
     m_interrupt = 0;
   }
 
-  /**
-   * Frees the resources for this output.
-   */
   @Override
   public void close() {
     super.close();

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

@@ -49,9 +49,6 @@ public class NidecBrushless extends SendableBase implements SpeedController, Mot
     setName("Nidec Brushless", pwmChannel);
   }
 
-  /**
-   * Free the resources used by this object.
-   */
   @Override
   public void close() {
     super.close();

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

@@ -88,9 +88,6 @@ public class PIDController extends PIDBase implements Controller {
     this(Kp, Ki, Kd, Kf, source, output, kDefaultPeriod);
   }
 
-  /**
-   * Free the PID object.
-   */
   @Override
   public void close() {
     super.close();

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

@@ -24,7 +24,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * center value - 999 to 2 = linear scaling from "center" to "full reverse" - 1 = minimum pulse
  * width (currently .5ms) - 0 = disabled (i.e. PWM output is held low)
  */
-public class PWM extends SendableBase implements Sendable {
+public class PWM extends SendableBase {
   /**
    * Represents the amount to multiply the minimum servo-pulse pwm period by.
    */
@@ -52,7 +52,7 @@ public class PWM extends SendableBase implements Sendable {
    * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
    */
   public PWM(final int channel) {
-    SensorBase.checkPWMChannel(channel);
+    SensorUtil.checkPWMChannel(channel);
     m_channel = channel;
 
     m_handle = PWMJNI.initializePWMPort(HAL.getPort((byte) channel));
@@ -66,9 +66,7 @@ public class PWM extends SendableBase implements Sendable {
   }
 
   /**
-   * Free the PWM channel.
-   *
-   * <p>Free the resource associated with the PWM channel and set the value to 0.
+   * Free the resource associated with the PWM channel and set the value to 0.
    */
   @Override
   public void close() {

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

@@ -25,6 +25,11 @@ public abstract class PWMSpeedController extends SafePWM implements SpeedControl
     super(channel);
   }
 
+  @Override
+  public String getDescription() {
+    return "PWM " + getChannel();
+  }
+
   /**
    * Set the PWM value.
    *

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

@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * Class for getting voltage, current, temperature, power and energy from the Power Distribution
  * Panel over CAN.
  */
-public class PowerDistributionPanel extends SensorBase implements Sendable {
+public class PowerDistributionPanel extends SendableBase {
   private final int m_module;
 
   /**
@@ -24,7 +24,7 @@ public class PowerDistributionPanel extends SensorBase implements Sendable {
    */
   public PowerDistributionPanel(int module) {
     m_module = module;
-    checkPDPModule(module);
+    SensorUtil.checkPDPModule(module);
     PDPJNI.initializePDP(module);
     setName("PowerDistributionPanel", module);
   }
@@ -62,7 +62,7 @@ public class PowerDistributionPanel extends SensorBase implements Sendable {
   public double getCurrent(int channel) {
     double current = PDPJNI.getPDPChannelCurrent((byte) channel, m_module);
 
-    checkPDPChannel(channel);
+    SensorUtil.checkPDPChannel(channel);
 
     return current;
   }
@@ -111,7 +111,7 @@ public class PowerDistributionPanel extends SensorBase implements Sendable {
   @Override
   public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("PowerDistributionPanel");
-    for (int i = 0; i < kPDPChannels; ++i) {
+    for (int i = 0; i < SensorUtil.kPDPChannels; ++i) {
       final int chan = i;
       builder.addDoubleProperty("Chan" + i, () -> getCurrent(chan), null);
     }

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

@@ -26,7 +26,7 @@ import static java.util.Objects.requireNonNull;
  * channels (forward and reverse) to be used independently for something that does not care about
  * voltage polarity (like a solenoid).
  */
-public class Relay extends SendableBase implements MotorSafety, Sendable {
+public class Relay extends SendableBase implements MotorSafety {
   private MotorSafetyHelper m_safetyHelper;
 
   /**
@@ -100,7 +100,7 @@ public class Relay extends SendableBase implements MotorSafety, Sendable {
    * set to both lines at 0v.
    */
   private void initRelay() {
-    SensorBase.checkRelayChannel(m_channel);
+    SensorUtil.checkRelayChannel(m_channel);
 
     int portHandle = HAL.getPort((byte) m_channel);
     if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {

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

@@ -97,9 +97,6 @@ public abstract class RobotBase implements AutoCloseable {
   public void free() {
   }
 
-  /**
-   * Free the resources for a RobotBase class.
-   */
   @Override
   public void close() {
   }

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

@@ -55,9 +55,6 @@ public class SPI implements AutoCloseable {
     close();
   }
 
-  /**
-   * Free the resources used by this object.
-   */
   @Override
   public void close() {
     if (m_accum != null) {

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

@@ -40,9 +40,6 @@ public abstract class SendableBase implements Sendable, AutoCloseable {
     close();
   }
 
-  /**
-   * Free the resources used by this object.
-   */
   @Override
   public void close() {
     LiveWindow.remove(this);

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

@@ -17,64 +17,61 @@ import edu.wpi.first.wpilibj.hal.RelayJNI;
 import edu.wpi.first.wpilibj.hal.SolenoidJNI;
 
 /**
- * Base class for all sensors. Stores most recent status information as well as containing utility
- * functions for checking channels and error processing.
+ * Stores most recent status information as well as containing utility functions for checking
+ * channels and error processing.
  */
-public abstract class SensorBase extends SendableBase {
+public final class SensorUtil {
   /**
    * Ticks per microsecond.
    */
-  public static final int kSystemClockTicksPerMicrosecond =
-      ConstantsJNI.getSystemClockTicksPerMicrosecond();
+  public static final int kSystemClockTicksPerMicrosecond
+      = ConstantsJNI.getSystemClockTicksPerMicrosecond();
+
   /**
    * Number of digital channels per roboRIO.
    */
   public static final int kDigitalChannels = PortsJNI.getNumDigitalChannels();
+
   /**
    * Number of analog input channels per roboRIO.
    */
   public static final int kAnalogInputChannels = PortsJNI.getNumAnalogInputs();
+
   /**
    * Number of analog output channels per roboRIO.
    */
   public static final int kAnalogOutputChannels = PortsJNI.getNumAnalogOutputs();
+
   /**
    * Number of solenoid channels per module.
    */
   public static final int kSolenoidChannels = PortsJNI.getNumSolenoidChannels();
+
   /**
    * Number of PWM channels per roboRIO.
    */
   public static final int kPwmChannels = PortsJNI.getNumPWMChannels();
+
   /**
    * Number of relay channels per roboRIO.
    */
   public static final int kRelayChannels = PortsJNI.getNumRelayHeaders();
+
   /**
    * Number of power distribution channels per PDP.
    */
   public static final int kPDPChannels = PortsJNI.getNumPDPChannels();
+
   /**
    * Number of power distribution modules per PDP.
    */
   public static final int kPDPModules = PortsJNI.getNumPDPModules();
+
   /**
    * Number of PCM Modules.
    */
   public static final int kPCMModules = PortsJNI.getNumPCMModules();
 
-  private static int m_defaultSolenoidModule = 0;
-
-  /**
-   * Set the default location for the Solenoid module.
-   *
-   * @param moduleNumber The number of the solenoid module to use.
-   */
-  public static void setDefaultSolenoidModule(final int moduleNumber) {
-    checkSolenoidModule(moduleNumber);
-    SensorBase.m_defaultSolenoidModule = moduleNumber;
-  }
-
   /**
    * Verify that the solenoid module is correct.
    *
@@ -231,6 +228,9 @@ public abstract class SensorBase extends SendableBase {
    * @return The number of the default solenoid module.
    */
   public static int getDefaultSolenoidModule() {
-    return SensorBase.m_defaultSolenoidModule;
+    return 0;
+  }
+
+  private SensorUtil() {
   }
 }

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

@@ -24,7 +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
  */
-public class SerialPort {
+public class SerialPort implements AutoCloseable {
   private byte m_port;
 
   public enum Port {
@@ -194,9 +194,7 @@ public class SerialPort {
     this(baudRate, port, 8, Parity.kNone, StopBits.kOne);
   }
 
-  /**
-   * Destructor.
-   */
+  @Override
   public void close() {
     SerialPortJNI.serialClose(m_port);
   }

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

@@ -18,7 +18,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * <p>The Solenoid class is typically used for pneumatic solenoids, but could be used for any
  * device within the current spec of the PCM.
  */
-public class Solenoid extends SolenoidBase implements Sendable {
+public class Solenoid extends SolenoidBase {
   private final int m_channel; // The channel to control.
   private int m_solenoidHandle;
 
@@ -28,7 +28,7 @@ public class Solenoid extends SolenoidBase implements Sendable {
    * @param channel The channel on the PCM to control (0..7).
    */
   public Solenoid(final int channel) {
-    this(SensorBase.getDefaultSolenoidModule(), channel);
+    this(SensorUtil.getDefaultSolenoidModule(), channel);
   }
 
   /**
@@ -41,8 +41,8 @@ public class Solenoid extends SolenoidBase implements Sendable {
     super(moduleNumber);
     m_channel = channel;
 
-    SensorBase.checkSolenoidModule(m_moduleNumber);
-    SensorBase.checkSolenoidChannel(m_channel);
+    SensorUtil.checkSolenoidModule(m_moduleNumber);
+    SensorUtil.checkSolenoidChannel(m_channel);
 
     int portHandle = HAL.getPortWithModule((byte) m_moduleNumber, (byte) m_channel);
     m_solenoidHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
@@ -51,11 +51,8 @@ public class Solenoid extends SolenoidBase implements Sendable {
     setName("Solenoid", m_moduleNumber, m_channel);
   }
 
-  /**
-   * Destructor.
-   */
   @Override
-  public synchronized void close() {
+  public void close() {
     super.close();
     SolenoidJNI.freeSolenoidPort(m_solenoidHandle);
     m_solenoidHandle = 0;

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

@@ -22,7 +22,7 @@ import static java.util.Objects.requireNonNull;
  * echo is received. The time that the line is high determines the round trip distance (time of
  * flight).
  */
-public class Ultrasonic extends SensorBase implements PIDSource, Sendable {
+public class Ultrasonic extends SendableBase implements PIDSource {
   /**
    * The units to return when PIDGet is called.
    */

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

@@ -10,7 +10,6 @@ package edu.wpi.first.wpilibj.command;
 import java.util.Enumeration;
 
 import edu.wpi.first.wpilibj.RobotState;
-import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.SendableBase;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
@@ -40,7 +39,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * @see CommandGroup
  * @see IllegalUseOfCommandException
  */
-public abstract class Command extends SendableBase implements Sendable {
+public abstract class Command extends SendableBase {
   /**
    * The time since this command was initialized.
    */

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

@@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.PIDSourceType;
-import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 
 /**
@@ -21,7 +20,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  * start and stop said {@link PIDController} when the {@link PIDCommand} is first initialized and
  * ended/interrupted. </p>
  */
-public abstract class PIDCommand extends Command implements Sendable {
+public abstract class PIDCommand extends Command {
   /**
    * The internal {@link PIDController}.
    */

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

@@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.PIDSource;
 import edu.wpi.first.wpilibj.PIDSourceType;
-import edu.wpi.first.wpilibj.Sendable;
 
 /**
  * This class is designed to handle the case where there is a {@link Subsystem} which uses a single
@@ -22,7 +21,7 @@ import edu.wpi.first.wpilibj.Sendable;
  * allows access to the internal {@link PIDController} in order to give total control to the
  * programmer.
  */
-public abstract class PIDSubsystem extends Subsystem implements Sendable {
+public abstract class PIDSubsystem extends Subsystem {
   /**
    * The internal {@link PIDController}.
    */

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

@@ -13,7 +13,6 @@ import java.util.Vector;
 
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.wpilibj.HLUsageReporting;
-import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.SendableBase;
 import edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
@@ -30,7 +29,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  *
  * @see Command
  */
-public class Scheduler extends SendableBase implements Sendable {
+public class Scheduler extends SendableBase {
   /**
    * The Singleton Instance.
    */

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

@@ -28,7 +28,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
  *
  * @see Command
  */
-public abstract class Subsystem extends SendableBase implements Sendable {
+public abstract class Subsystem extends SendableBase {
   /**
    * Whether or not getDefaultCommand() was called.
    */

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

@@ -107,7 +107,7 @@ public class LiveWindow {
    * @param moduleType A string indicating the type of the module used in the naming (above)
    * @param channel    The channel number the device is connected to
    * @param component  A reference to the object being added
-   * @deprecated Use {@link edu.wpi.first.wpilibj.SensorBase#setName(String, int)} instead.
+   * @deprecated Use {@link edu.wpi.first.wpilibj.SendableBase#setName(String, int)} instead.
    */
   @Deprecated
   public static void addSensor(String moduleType, int channel, Sendable component) {
@@ -136,7 +136,7 @@ public class LiveWindow {
    * @param moduleType A string that defines the module name in the label for the value
    * @param channel    The channel number the device is plugged into (usually PWM)
    * @param component  The reference to the object being added
-   * @deprecated Use {@link edu.wpi.first.wpilibj.SensorBase#setName(String, int)} instead.
+   * @deprecated Use {@link edu.wpi.first.wpilibj.SendableBase#setName(String, int)} instead.
    */
   @Deprecated
   public static void addActuator(String moduleType, int channel, Sendable component) {
@@ -152,7 +152,7 @@ public class LiveWindow {
    * @param moduleNumber The number of the particular module type
    * @param channel      The channel number the device is plugged into (usually PWM)
    * @param component    The reference to the object being added
-   * @deprecated Use {@link edu.wpi.first.wpilibj.SensorBase#setName(String, int, int)} instead.
+   * @deprecated Use {@link edu.wpi.first.wpilibj.SendableBase#setName(String, int, int)} instead.
    */
   @Deprecated
   public static void addActuator(String moduleType, int moduleNumber, int channel,

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

@@ -10,7 +10,6 @@ package edu.wpi.first.wpilibj.smartdashboard;
 import java.util.LinkedHashMap;
 
 import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.SendableBase;
 import edu.wpi.first.wpilibj.command.Command;
 
@@ -28,7 +27,7 @@ import static java.util.Objects.requireNonNull;
  *
  * @param <V> The type of the values to be stored
  */
-public class SendableChooser<V> extends SendableBase implements Sendable {
+public class SendableChooser<V> extends SendableBase {
   /**
    * The key for the default value.
    */