diff --git a/build.gradle b/build.gradle index fc9600ddac..ed2c520caa 100644 --- a/build.gradle +++ b/build.gradle @@ -22,7 +22,7 @@ plugins { id 'visual-studio' id 'net.ltgt.errorprone' version '2.0.2' apply false id 'com.github.johnrengelman.shadow' version '7.1.2' apply false - id 'com.diffplug.spotless' version '6.4.2' apply false + id 'com.diffplug.spotless' version '6.12.0' apply false id 'com.github.spotbugs' version '5.0.8' apply false } diff --git a/gradle.properties b/gradle.properties index 520f83d888..d7a34a5028 100644 --- a/gradle.properties +++ b/gradle.properties @@ -1,8 +1 @@ -# The --add-exports flags work around a bug with spotless and JDK 17 -# https://github.com/diffplug/spotless/issues/834 -org.gradle.jvmargs=-Xmx2g \ - --add-exports jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED \ - --add-exports jdk.compiler/com.sun.tools.javac.file=ALL-UNNAMED \ - --add-exports jdk.compiler/com.sun.tools.javac.parser=ALL-UNNAMED \ - --add-exports jdk.compiler/com.sun.tools.javac.tree=ALL-UNNAMED \ - --add-exports jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED +org.gradle.jvmargs=-Xmx2g diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java index eb269f459c..546afb3da4 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java @@ -951,7 +951,9 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { return compAngle; } - /** @return Yaw axis angle in degrees (CCW positive) */ + /** + * @return Yaw axis angle in degrees (CCW positive) + */ public synchronized double getAngle() { switch (m_yaw_axis) { case kX: @@ -965,7 +967,9 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { } } - /** @return Yaw axis angular rate in degrees per second (CCW positive) */ + /** + * @return Yaw axis angular rate in degrees per second (CCW positive) + */ public synchronized double getRate() { switch (m_yaw_axis) { case kX: @@ -979,12 +983,16 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { } } - /** @return Yaw Axis */ + /** + * @return Yaw Axis + */ public IMUAxis getYawAxis() { return m_yaw_axis; } - /** @return accumulated gyro angle in the X axis in degrees */ + /** + * @return accumulated gyro angle in the X axis in degrees + */ public synchronized double getGyroAngleX() { if (m_simGyroAngleX != null) { return m_simGyroAngleX.get(); @@ -992,7 +1000,9 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { return m_integ_gyro_angle_x; } - /** @return accumulated gyro angle in the Y axis in degrees */ + /** + * @return accumulated gyro angle in the Y axis in degrees + */ public synchronized double getGyroAngleY() { if (m_simGyroAngleY != null) { return m_simGyroAngleY.get(); @@ -1000,7 +1010,9 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { return m_integ_gyro_angle_y; } - /** @return accumulated gyro angle in the Z axis in degrees */ + /** + * @return accumulated gyro angle in the Z axis in degrees + */ public synchronized double getGyroAngleZ() { if (m_simGyroAngleZ != null) { return m_simGyroAngleZ.get(); @@ -1008,7 +1020,9 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { return m_integ_gyro_angle_z; } - /** @return gyro angular rate in the X axis in degrees per second */ + /** + * @return gyro angular rate in the X axis in degrees per second + */ public synchronized double getGyroRateX() { if (m_simGyroRateX != null) { return m_simGyroRateX.get(); @@ -1016,7 +1030,9 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { return m_gyro_rate_x; } - /** @return gyro angular rate in the Y axis in degrees per second */ + /** + * @return gyro angular rate in the Y axis in degrees per second + */ public synchronized double getGyroRateY() { if (m_simGyroRateY != null) { return m_simGyroRateY.get(); @@ -1024,7 +1040,9 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { return m_gyro_rate_y; } - /** @return gyro angular rate in the Z axis in degrees per second */ + /** + * @return gyro angular rate in the Z axis in degrees per second + */ public synchronized double getGyroRateZ() { if (m_simGyroRateZ != null) { return m_simGyroRateZ.get(); @@ -1032,7 +1050,9 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { return m_gyro_rate_z; } - /** @return urrent acceleration in the X axis in meters per second squared */ + /** + * @return urrent acceleration in the X axis in meters per second squared + */ public synchronized double getAccelX() { if (m_simAccelX != null) { return m_simAccelX.get(); @@ -1040,7 +1060,9 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { return m_accel_x * 9.81; } - /** @return current acceleration in the Y axis in meters per second squared */ + /** + * @return current acceleration in the Y axis in meters per second squared + */ public synchronized double getAccelY() { if (m_simAccelY != null) { return m_simAccelY.get(); @@ -1048,7 +1070,9 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { return m_accel_y * 9.81; } - /** @return current acceleration in the Z axis in meters per second squared */ + /** + * @return current acceleration in the Z axis in meters per second squared + */ public synchronized double getAccelZ() { if (m_simAccelZ != null) { return m_simAccelZ.get(); @@ -1056,51 +1080,69 @@ public class ADIS16448_IMU implements AutoCloseable, NTSendable { return m_accel_z * 9.81; } - /** @return Magnetic field strength in the X axis in Tesla */ + /** + * @return Magnetic field strength in the X axis in Tesla + */ public synchronized double getMagneticFieldX() { // mG to T return m_mag_x * 1e-7; } - /** @return Magnetic field strength in the Y axis in Tesla */ + /** + * @return Magnetic field strength in the Y axis in Tesla + */ public synchronized double getMagneticFieldY() { // mG to T return m_mag_y * 1e-7; } - /** @return Magnetic field strength in the Z axis in Tesla */ + /** + * @return Magnetic field strength in the Z axis in Tesla + */ public synchronized double getMagneticFieldZ() { // mG to T return m_mag_z * 1e-7; } - /** @return X axis complementary angle in degrees */ + /** + * @return X axis complementary angle in degrees + */ public synchronized double getXComplementaryAngle() { return m_compAngleX; } - /** @return Y axis complementary angle in degrees */ + /** + * @return Y axis complementary angle in degrees + */ public synchronized double getYComplementaryAngle() { return m_compAngleY; } - /** @return X axis filtered acceleration angle in degrees */ + /** + * @return X axis filtered acceleration angle in degrees + */ public synchronized double getXFilteredAccelAngle() { return m_accelAngleX; } - /** @return Y axis filtered acceleration angle in degrees */ + /** + * @return Y axis filtered acceleration angle in degrees + */ public synchronized double getYFilteredAccelAngle() { return m_accelAngleY; } - /** @return Barometric Pressure in PSI */ + /** + * @return Barometric Pressure in PSI + */ public synchronized double getBarometricPressure() { // mbar to PSI return m_baro * 0.0145; } - /** @return Temperature in degrees Celsius */ + /** + * @return Temperature in degrees Celsius + */ public synchronized double getTemperature() { return m_temp; } diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java index 316783a107..ebf3aed169 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java @@ -475,7 +475,9 @@ public class ADIS16470_IMU implements AutoCloseable, NTSendable { } } - /** @return */ + /** + * @return + */ boolean switchToAutoSPI() { // No SPI port has been set up. Go set one up first. if (m_spi == null) { @@ -926,7 +928,9 @@ public class ADIS16470_IMU implements AutoCloseable, NTSendable { return compAngle; } - /** @return Yaw axis angle in degrees (CCW positive) */ + /** + * @return Yaw axis angle in degrees (CCW positive) + */ public synchronized double getAngle() { switch (m_yaw_axis) { case kX: @@ -948,7 +952,9 @@ public class ADIS16470_IMU implements AutoCloseable, NTSendable { return m_integ_angle; } - /** @return Yaw axis angular rate in degrees per second (CCW positive) */ + /** + * @return Yaw axis angular rate in degrees per second (CCW positive) + */ public synchronized double getRate() { if (m_yaw_axis == IMUAxis.kX) { if (m_simGyroRateX != null) { @@ -970,42 +976,58 @@ public class ADIS16470_IMU implements AutoCloseable, NTSendable { } } - /** @return Yaw Axis */ + /** + * @return Yaw Axis + */ public IMUAxis getYawAxis() { return m_yaw_axis; } - /** @return current acceleration in the X axis */ + /** + * @return current acceleration in the X axis + */ public synchronized double getAccelX() { return m_accel_x * 9.81; } - /** @return current acceleration in the Y axis */ + /** + * @return current acceleration in the Y axis + */ public synchronized double getAccelY() { return m_accel_y * 9.81; } - /** @return current acceleration in the Z axis */ + /** + * @return current acceleration in the Z axis + */ public synchronized double getAccelZ() { return m_accel_z * 9.81; } - /** @return X axis complementary angle */ + /** + * @return X axis complementary angle + */ public synchronized double getXComplementaryAngle() { return m_compAngleX; } - /** @return Y axis complementary angle */ + /** + * @return Y axis complementary angle + */ public synchronized double getYComplementaryAngle() { return m_compAngleY; } - /** @return X axis filtered acceleration angle */ + /** + * @return X axis filtered acceleration angle + */ public synchronized double getXFilteredAccelAngle() { return m_accelAngleX; } - /** @return Y axis filtered acceleration angle */ + /** + * @return Y axis filtered acceleration angle + */ public synchronized double getYFilteredAccelAngle() { return m_accelAngleY; }