Address review comments

cscore/src/main/java/edu/wpi/first/cscore/HttpCamera.java

@@ -46,7 +46,7 @@ public static HttpCameraKind getHttpCameraKindFromInt(int kind) {
    * Create a source for a MJPEG-over-HTTP (IP) camera.
    *
    * @param name Source name (arbitrary unique identifier)
-   * @param url Camera URL (e.g. "<a href="http://10.x.y.11/video/stream.mjpg">...</a>")
+   * @param url Camera URL (e.g. "http://10.x.y.11/video/stream.mjpg")
    */
   public HttpCamera(String name, String url) {
     super(CameraServerJNI.createHttpCamera(name, url, HttpCameraKind.kUnknown.getValue()));
@@ -56,7 +56,7 @@ public HttpCamera(String name, String url) {
    * Create a source for a MJPEG-over-HTTP (IP) camera.
    *
    * @param name Source name (arbitrary unique identifier)
-   * @param url Camera URL (e.g. "<a href="http://10.x.y.11/video/stream.mjpg">...</a>")
+   * @param url Camera URL (e.g. "http://10.x.y.11/video/stream.mjpg")
    * @param kind Camera kind (e.g. kAxis)
    */
   public HttpCamera(String name, String url, HttpCameraKind kind) {

ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java

@@ -6,7 +6,6 @@
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import java.util.Arrays;
 import java.util.Collections;
 import java.util.List;
 import java.util.stream.Stream;
@@ -61,8 +60,8 @@ private static Stream<Arguments> getHierarchyArguments() {
     return Stream.of(
         Arguments.of(Collections.singletonList("/"), ""),
         Arguments.of(Collections.singletonList("/"), "/"),
-        Arguments.of(Arrays.asList("/", "/foo", "/foo/bar", "/foo/bar/baz"), "/foo/bar/baz"),
-        Arguments.of(Arrays.asList("/", "/foo", "/foo/bar", "/foo/bar/"), "/foo/bar/"));
+        Arguments.of(List.of("/", "/foo", "/foo/bar", "/foo/bar/baz"), "/foo/bar/baz"),
+        Arguments.of(List.of("/", "/foo", "/foo/bar", "/foo/bar/"), "/foo/bar/"));
   }
 
   @ParameterizedTest

wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp

@@ -92,26 +92,22 @@ Pose2d DifferentialDrivetrainSim::GetPose() const {
 }
 
 units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
-  auto loadIleft =
-      m_motor.Current(
-          units::radians_per_second_t{m_x(State::kLeftVelocity) *
-                                      m_currentGearing / m_wheelRadius.value()},
-          units::volt_t{m_u(0)}) *
-      wpi::sgn(m_u(0));
-
-  return loadIleft;
+  return m_motor.Current(units::radians_per_second_t{m_x(State::kLeftVelocity) *
+                                                     m_currentGearing /
+                                                     m_wheelRadius.value()},
+                         units::volt_t{m_u(0)}) *
+         wpi::sgn(m_u(0));
 }
 
 units::ampere_t DifferentialDrivetrainSim::GetRightCurrentDraw() const {
-  auto loadIRight =
-      m_motor.Current(
-          units::radians_per_second_t{m_x(State::kRightVelocity) *
-                                      m_currentGearing / m_wheelRadius.value()},
-          units::volt_t{m_u(1)}) *
-      wpi::sgn(m_u(1));
-
-  return loadIRight;
+  return m_motor.Current(
+             units::radians_per_second_t{m_x(State::kRightVelocity) *
+                                         m_currentGearing /
+                                         m_wheelRadius.value()},
+             units::volt_t{m_u(1)}) *
+         wpi::sgn(m_u(1));
 }
+
 units::ampere_t DifferentialDrivetrainSim::GetCurrentDraw() const {
   return GetLeftCurrentDraw() + GetRightCurrentDraw();
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java

@@ -17,7 +17,8 @@
  * 884 controllers also but if users experience issues such as asymmetric behavior around the
  * deadband or inability to saturate the controller in either direction, calibration is recommended.
  * The calibration procedure can be found in the Victor 884 User Manual available from VEX Robotics:
- * <a href="http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf">...</a>
+ * <a
+ * href="http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf">http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf</a>
  *
  * <ul>
  *   <li>2.027ms = full "forward"

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java

@@ -122,7 +122,7 @@ synchronized void updateEntry(boolean setDefault) {
     int ndx = 0;
     for (Pose2d pose : m_poses) {
       Translation2d translation = pose.getTranslation();
-      arr[ndx] = translation.getX();
+      arr[ndx + 0] = translation.getX();
       arr[ndx + 1] = translation.getY();
       arr[ndx + 2] = pose.getRotation().getDegrees();
       ndx += 3;

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java

@@ -49,8 +49,8 @@ private double getPressure() {
    * @return command
    */
   public Command disableCompressorCommand() {
-    // Disable closed-loop mode on the compressor.
     return startEnd(
+            // Disable closed-loop mode on the compressor.
             m_compressor::disable,
             // Enable closed-loop mode based on the digital pressure switch connected to the
             // PCM/PH.

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java

@@ -7,8 +7,8 @@
 import static org.junit.Assert.assertEquals;
 
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
-import java.util.Arrays;
 import java.util.Collection;
+import java.util.List;
 import java.util.logging.Logger;
 import org.junit.BeforeClass;
 import org.junit.Test;
@@ -38,7 +38,7 @@ public static void waitASecond() {
   /** Test with all valid ranges to make sure unpacking is always done correctly. */
   @Parameters
   public static Collection<BuiltInAccelerometer.Range[]> generateData() {
-    return Arrays.asList(
+    return List.of(
         new BuiltInAccelerometer.Range[][] {
           {BuiltInAccelerometer.Range.k2G},
           {BuiltInAccelerometer.Range.k4G},

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java

@@ -14,8 +14,8 @@
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
-import java.util.Arrays;
 import java.util.Collection;
+import java.util.List;
 import java.util.logging.Logger;
 import org.junit.After;
 import org.junit.AfterClass;
@@ -56,7 +56,7 @@ public MotorEncoderTest(MotorEncoderFixture<?> mef) {
   @Parameters(name = "{index}: {0}")
   public static Collection<MotorEncoderFixture<?>[]> generateData() {
     // logger.fine("Loading the MotorList");
-    return Arrays.asList(
+    return List.of(
         new MotorEncoderFixture<?>[][] {
           {TestBench.getTalonPair()}, {TestBench.getVictorPair()}, {TestBench.getJaguarPair()}
         });

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java

@@ -10,8 +10,8 @@
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
-import java.util.Arrays;
 import java.util.Collection;
+import java.util.List;
 import java.util.logging.Logger;
 import org.junit.AfterClass;
 import org.junit.Before;
@@ -44,7 +44,7 @@ public MotorInvertingTest(MotorEncoderFixture<?> afixture) {
   @Parameters(name = "{index}: {0}")
   public static Collection<MotorEncoderFixture<?>[]> generateData() {
     // logger.fine("Loading the MotorList");
-    return Arrays.asList(
+    return List.of(
         new MotorEncoderFixture<?>[][] {
           {TestBench.getTalonPair()}, {TestBench.getVictorPair()}, {TestBench.getJaguarPair()}
         });

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java

@@ -13,8 +13,8 @@
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
-import java.util.Arrays;
 import java.util.Collection;
+import java.util.List;
 import java.util.logging.Logger;
 import org.junit.After;
 import org.junit.AfterClass;
@@ -65,7 +65,7 @@ public PDPTest(MotorEncoderFixture<?> mef, Double expectedCurrentDraw) {
   @Parameters(name = "{index}: {0}, Expected Stopped Current Draw: {1}")
   public static Collection<Object[]> generateData() {
     // logger.fine("Loading the MotorList");
-    return Arrays.asList(new Object[][] {{TestBench.getTalonPair(), 0.0}});
+    return List.of(new Object[][] {{TestBench.getTalonPair(), 0.0}});
   }
 
   @After

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java

@@ -16,8 +16,8 @@
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.Collection;
+import java.util.List;
 import java.util.logging.Logger;
 import org.junit.After;
 import org.junit.AfterClass;
@@ -78,7 +78,7 @@ public static Collection<Object[]> generateData() {
     double kd = 0.0;
     for (int i = 0; i < 1; i++) {
       data.addAll(
-          Arrays.asList(
+          List.of(
               new Object[][] {
                 {kp, ki, kd, TestBench.getTalonPair()},
                 {kp, ki, kd, TestBench.getVictorPair()},

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -20,7 +20,6 @@
 import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import java.io.PrintStream;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.Collection;
 import java.util.List;
 
@@ -192,15 +191,15 @@ public static DIOCrossConnectFixture getDIOCrossConnectFixture(int inputPort, in
   private static List<List<Integer[]>> getDIOCrossConnect() {
     List<List<Integer[]>> pairs = new ArrayList<List<Integer[]>>();
     List<Integer[]> setA =
-        Arrays.asList(
+        List.of(
             new Integer[][] {
               {DIOCrossConnectA1, DIOCrossConnectA2},
               {DIOCrossConnectA2, DIOCrossConnectA1}
             });
     pairs.add(setA);
 
     List<Integer[]> setB =
-        Arrays.asList(
+        List.of(
             new Integer[][] {
               {DIOCrossConnectB1, DIOCrossConnectB2},
               {DIOCrossConnectB2, DIOCrossConnectB1}

wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java

@@ -8,7 +8,6 @@
 import java.io.IOException;
 import java.io.InputStream;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
 import java.util.Objects;
 import java.util.logging.LogManager;
@@ -193,7 +192,7 @@ protected static Result parseArgsRunAndGetResult(final String[] args) {
       }
     }
 
-    ArrayList<String> argsParsed = new ArrayList<String>(Arrays.asList(args));
+    ArrayList<String> argsParsed = new ArrayList<String>(List.of(args));
     if (argsParsed.contains(HELP_FLAG)) {
       // If the user inputs the help flag then return the help message and exit
       // without running any tests

wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java

@@ -26,7 +26,7 @@
  * when the feedforward is created and remains constant.
  *
  * <p>For more on the underlying math, read <a
- * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">...</a>.
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
  */
 public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs extends Num> {
   /** The current reference state. */

wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java

@@ -18,7 +18,7 @@
  * controllable during teleop driving by making it behave like a slower or more benign drivetrain.
  *
  * <p>For more on the underlying math, read appendix B.3 in <a
- * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">...</a>.
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
  */
 public class ImplicitModelFollower<States extends Num, Inputs extends Num, Outputs extends Num> {
   // Computed controller output

wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java

@@ -66,7 +66,7 @@ private enum State {
    * Constructs a linear time-varying differential drive controller.
    *
    * <p>See <a
-   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">...</a>
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
    * for how to select the tolerances.
    *
    * @param plant The differential drive velocity plant.

wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java

@@ -81,7 +81,7 @@ public LTVUnicycleController(double dt, double maxVelocity) {
    * Constructs a linear time-varying unicycle controller.
    *
    * <p>See <a
-   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">...</a>
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
    * for how to select the tolerances.
    *
    * @param qelems The maximum desired error tolerance for each state.
@@ -96,7 +96,7 @@ public LTVUnicycleController(Vector<N3> qelems, Vector<N2> relems, double dt) {
    * Constructs a linear time-varying unicycle controller.
    *
    * <p>See <a
-   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">...</a>
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
    * for how to select the tolerances.
    *
    * @param qelems The maximum desired error tolerance for each state.

wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java

@@ -18,7 +18,7 @@
  * where <strong> B<sup>+</sup> </strong> is the pseudoinverse of B.
  *
  * <p>For more on the underlying math, read <a
- * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">...</a>.
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
  */
 public class LinearPlantInversionFeedforward<
     States extends Num, Inputs extends Num, Outputs extends Num> {

wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java

@@ -20,7 +20,7 @@
  * the control law u = K(r - x).
  *
  * <p>For more on the underlying math, read <a
- * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">...</a>.
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
  */
 public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Outputs extends Num> {
   /** The current reference state. */
@@ -36,7 +36,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    * Constructs a controller with the given coefficients and plant. Rho is defaulted to 1.
    *
    * <p>See <a
-   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">...</a>
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
    * for how to select the tolerances.
    *
    * @param plant The plant being controlled.
@@ -62,7 +62,7 @@ public LinearQuadraticRegulator(
    * Constructs a controller with the given coefficients and plant.
    *
    * <p>See <a
-   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">...</a>
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
    * for how to select the tolerances.
    *
    * @param A Continuous system matrix of the plant being controlled.
@@ -258,7 +258,8 @@ public Matrix<Inputs, N1> calculate(Matrix<States, N1> x, Matrix<States, N1> nex
    * are time-delayed too long, the LQR may be unstable. However, if we know the amount of delay, we
    * can compute the control based on where the system will be after the time delay.
    *
-   * <p>See <a href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">...</a>
+   * <p>See <a
+   * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
    * appendix C.4 for a derivation.
    *
    * @param plant The plant being controlled.

wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java

@@ -31,8 +31,8 @@
  * Kalman filter equations.
  *
  * <p>For more on the underlying math, read <a
- * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">...</a> chapter 9
- * "Stochastic control theory".
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+ * chapter 9 "Stochastic control theory".
  */
 public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {
@@ -60,7 +60,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
    * Constructs an extended Kalman filter.
    *
    * <p>See <a
-   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">...</a>
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
    * for how to select the standard deviations.
    *
    * @param states a Nat representing the number of states.
@@ -98,7 +98,7 @@ public ExtendedKalmanFilter(
    * Constructs an extended Kalman filter.
    *
    * <p>See <a
-   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">...</a>
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
    * for how to select the standard deviations.
    *
    * @param states a Nat representing the number of states.

wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java

@@ -26,8 +26,8 @@
  * model.
  *
  * <p>For more on the underlying math, read <a
- * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">...</a> chapter 9
- * "Stochastic control theory".
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+ * chapter 9 "Stochastic control theory".
  */
 public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {
@@ -46,7 +46,7 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
    * Constructs a Kalman filter with the given plant.
    *
    * <p>See <a
-   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">...</a>
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
    * for how to select the standard deviations.
    *
    * @param states A Nat representing the states of the system.