From 5f05124ef8875a34bdc9ec4bd9cf91ecd75825d4 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Fri, 1 Dec 2023 20:11:43 -0800
Subject: [PATCH] Address review comments

---
 .../java/edu/wpi/first/cscore/HttpCamera.java |  4 +--
 .../first/networktables/NetworkTableTest.java |  5 ++--
 .../simulation/DifferentialDrivetrainSim.cpp  | 28 ++++++++-----------
 .../first/wpilibj/motorcontrol/Victor.java    |  3 +-
 .../wpilibj/smartdashboard/FieldObject2d.java |  2 +-
 .../subsystems/Pneumatics.java                |  2 +-
 .../wpilibj/BuiltInAccelerometerTest.java     |  4 +--
 .../wpi/first/wpilibj/MotorEncoderTest.java   |  4 +--
 .../wpi/first/wpilibj/MotorInvertingTest.java |  4 +--
 .../java/edu/wpi/first/wpilibj/PDPTest.java   |  4 +--
 .../java/edu/wpi/first/wpilibj/PIDTest.java   |  4 +--
 .../edu/wpi/first/wpilibj/test/TestBench.java |  5 ++--
 .../edu/wpi/first/wpilibj/test/TestSuite.java |  3 +-
 ...ontrolAffinePlantInversionFeedforward.java |  2 +-
 .../controller/ImplicitModelFollower.java     |  2 +-
 .../LTVDifferentialDriveController.java       |  2 +-
 .../controller/LTVUnicycleController.java     |  4 +--
 .../LinearPlantInversionFeedforward.java      |  2 +-
 .../controller/LinearQuadraticRegulator.java  |  9 +++---
 .../math/estimator/ExtendedKalmanFilter.java  |  8 +++---
 .../first/math/estimator/KalmanFilter.java    |  6 ++--
 .../estimator/SteadyStateKalmanFilter.java    | 10 +++----
 .../math/estimator/UnscentedKalmanFilter.java | 10 +++----
 .../wpi/first/math/filter/LinearFilter.java   | 10 +++++--
 .../kinematics/SwerveDriveKinematics.java     |  2 +-
 .../first/math/spline/CubicHermiteSpline.java | 17 +++++++++--
 .../math/spline/QuinticHermiteSpline.java     | 22 ++++++++-------
 .../first/math/system/LinearSystemLoop.java   |  2 +-
 .../estimator/ExtendedKalmanFilterTest.java   |  3 +-
 .../estimator/UnscentedKalmanFilterTest.java  |  3 +-
 .../wpi/first/math/geometry/Pose3dTest.java   | 10 +++----
 .../trajectory/TrajectoryGeneratorTest.java   |  5 ++--
 .../src/printlog/java/printlog/PrintLog.java  |  8 +++---
 33 files changed, 109 insertions(+), 100 deletions(-)

diff --git a/cscore/src/main/java/edu/wpi/first/cscore/HttpCamera.java b/cscore/src/main/java/edu/wpi/first/cscore/HttpCamera.java
index 4a656b4f209..8c72350e635 100644
--- a/cscore/src/main/java/edu/wpi/first/cscore/HttpCamera.java
+++ b/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) {
diff --git a/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java b/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java
index 4c431afbdc9..bca694b9903 100644
--- a/ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java
+++ b/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
diff --git a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
index 4d2720f5a6f..d5addb23389 100644
--- a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/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();
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java
index 97578d5de4c..d9bd15264f8 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java
+++ b/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"
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
index 05483348c8e..0fecbb66918 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
+++ b/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;
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
index eab523c8a8a..b51562fca87 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Pneumatics.java
+++ b/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.
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java
index e6585e4f8ea..eaf975dce81 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java
+++ b/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},
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
index 72c2c55aade..078ef5aa693 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
+++ b/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()}
         });
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
index 769fa7fe98a..4ec5a722481 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
+++ b/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()}
         });
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
index f2bc522e388..9124251a453 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
+++ b/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
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
index b5e0fc8fd9b..16da126caf5 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
+++ b/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()},
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
index 258d640af99..87baff0e8c0 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
+++ b/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;
 
@@ -192,7 +191,7 @@ 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}
@@ -200,7 +199,7 @@ private static List<List<Integer[]>> getDIOCrossConnect() {
     pairs.add(setA);
 
     List<Integer[]> setB =
-        Arrays.asList(
+        List.of(
             new Integer[][] {
               {DIOCrossConnectB1, DIOCrossConnectB2},
               {DIOCrossConnectB2, DIOCrossConnectB1}
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
index 880a97c011e..81b3b0e0d76 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
+++ b/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
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
index 554cabe3d2c..c406203b20f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
+++ b/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. */
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java
index 6b2178e4e32..6fdf1f319fd 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java
+++ b/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
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
index 6bb2e52d69a..116513eb7f1 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
+++ b/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.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
index c2a40322257..c3c54f32129 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
+++ b/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.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
index d37278b8bc3..c6ec51fed1e 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
+++ b/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> {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
index 667bc41ddb5..1bf8ae9d465 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
+++ b/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.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
index 31ae21bd1ce..f3c25332edd 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
+++ b/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.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
index 5d76ca56822..0817c30b987 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
+++ b/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.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
index 93ca8636636..64dbb3faa8e 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
@@ -28,9 +28,9 @@
  * <p>This class assumes predict() and correct() are called in pairs, so the Kalman gain converges
  * to a steady-state value. If they aren't, use {@link KalmanFilter} instead.
  *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9 "Stochastic control
- * theory".
+ * <p>For more on the underlying math, read <a
+ * 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 SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num> {
   private final Nat<States> m_states;
@@ -46,8 +46,8 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
   /**
    * Constructs a steady-state Kalman filter with the given plant.
    *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <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">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.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
index 8a88028cdb5..2c1e1e6efad 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
@@ -32,12 +32,12 @@
  * error covariance using sigma points chosen to approximate the true probability distribution.
  *
  * <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".
  *
  * <p>This class implements a square-root-form unscented Kalman filter (SR-UKF). For more
  * information about the SR-UKF, see <a
- * href="https://www.researchgate.net/publication/3908304">...</a>.
+ * href="https://www.researchgate.net/publication/3908304">https://www.researchgate.net/publication/3908304</a>.
  */
 public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {
@@ -66,7 +66,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
    * Constructs an Unscented 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.
@@ -106,7 +106,7 @@ public UnscentedKalmanFilter(
    * because they allow you to correctly account for the modular nature of angle arithmetic.
    *
    * <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.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
index de893b255ac..7a568c86134 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
@@ -35,9 +35,13 @@
  * PID controller out of this class!
  *
  * <p>For more on filters, we highly recommend the following articles:<br>
- * <a href="https://en.wikipedia.org/wiki/Linear_filter">...</a><br>
- * <a href="https://en.wikipedia.org/wiki/Iir_filter">...</a><br>
- * <a href="https://en.wikipedia.org/wiki/Fir_filter">...</a><br>
+ * <a
+ * href="https://en.wikipedia.org/wiki/Linear_filter">https://en.wikipedia.org/wiki/Linear_filter</a>
+ * <br>
+ * <a href="https://en.wikipedia.org/wiki/Iir_filter">https://en.wikipedia.org/wiki/Iir_filter</a>
+ * <br>
+ * <a href="https://en.wikipedia.org/wiki/Fir_filter">https://en.wikipedia.org/wiki/Fir_filter</a>
+ * <br>
  *
  * <p>Note 1: calculate() should be called by the user on a known, regular period. You can use a
  * Notifier for this or do it "inline" with code in a periodic function.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
index 714a3b3e2f4..2498b337427 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
@@ -157,7 +157,7 @@ public SwerveModuleState[] toSwerveModuleStates(
             0, /* Start Data */
             0,
             1,
-            m_modules[i].getX() - centerOfRotationMeters.getX());
+            +m_modules[i].getX() - centerOfRotationMeters.getX());
       }
       m_prevCoR = centerOfRotationMeters;
     }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java b/wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java
index b1788576315..8f93661f995 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java
@@ -128,8 +128,13 @@ private SimpleMatrix makeHermiteBasis() {
       // [a₀] = [ 1  0  0  0][P'(i+1)]
       hermiteBasis =
           new SimpleMatrix(
-              4, 4, true, +2.0, +1.0, -2.0, +1.0, -3.0, -2.0, +3.0, -1.0, +0.0, +1.0, +0.0, +0.0,
-              +1.0, +0.0, +0.0, +0.0);
+              4,
+              4,
+              true,
+              new double[] {
+                +2.0, +1.0, -2.0, +1.0, -3.0, -2.0, +3.0, -1.0, +0.0, +1.0, +0.0, +0.0, +1.0, +0.0,
+                +0.0, +0.0
+              });
     }
     return hermiteBasis;
   }
@@ -147,6 +152,12 @@ private SimpleMatrix getControlVectorFromArrays(double[] initialVector, double[]
       throw new IllegalArgumentException("Size of vectors must be 2 or greater.");
     }
     return new SimpleMatrix(
-        4, 1, true, initialVector[0], initialVector[1], finalVector[0], finalVector[1]);
+        4,
+        1,
+        true,
+        new double[] {
+          initialVector[0], initialVector[1],
+          finalVector[0], finalVector[1]
+        });
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java b/wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java
index af162456fd0..6d9ded02430 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java
@@ -135,10 +135,14 @@ private SimpleMatrix makeHermiteBasis() {
       // [a₀] = [  1.0   0.0   0.0   0.0   0.0   0.0][P"(i+1)]
       hermiteBasis =
           new SimpleMatrix(
-              6, 6, true, -06.0, -03.0, -00.5, +06.0, -03.0, +00.5, +15.0, +08.0, +01.5, -15.0,
-              +07.0, -01.0, -10.0, -06.0, -01.5, +10.0, -04.0, +00.5, +00.0, +00.0, +00.5, +00.0,
-              +00.0, +00.0, +00.0, +01.0, +00.0, +00.0, +00.0, +00.0, +01.0, +00.0, +00.0, +00.0,
-              +00.0, +00.0);
+              6,
+              6,
+              true,
+              new double[] {
+                -06.0, -03.0, -00.5, +06.0, -03.0, +00.5, +15.0, +08.0, +01.5, -15.0, +07.0, -01.0,
+                -10.0, -06.0, -01.5, +10.0, -04.0, +00.5, +00.0, +00.0, +00.5, +00.0, +00.0, +00.0,
+                +00.0, +01.0, +00.0, +00.0, +00.0, +00.0, +01.0, +00.0, +00.0, +00.0, +00.0, +00.0
+              });
     }
     return hermiteBasis;
   }
@@ -159,11 +163,9 @@ private SimpleMatrix getControlVectorFromArrays(double[] initialVector, double[]
         6,
         1,
         true,
-        initialVector[0],
-        initialVector[1],
-        initialVector[2],
-        finalVector[0],
-        finalVector[1],
-        finalVector[2]);
+        new double[] {
+          initialVector[0], initialVector[1], initialVector[2],
+          finalVector[0], finalVector[1], finalVector[2]
+        });
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
index 307b8596674..255732415b4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
@@ -26,7 +26,7 @@
  * because that's what comes back from the sensors).
  *
  * <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 LinearSystemLoop<States extends Num, Inputs extends Num, Outputs extends Num> {
   private final LinearQuadraticRegulator<States, Inputs, Outputs> m_controller;
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
index 112ef902154..8204fec0844 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
@@ -22,7 +22,6 @@
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
-import java.util.Arrays;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
@@ -114,7 +113,7 @@ void testConvergence() {
             dtSeconds);
 
     List<Pose2d> waypoints =
-        Arrays.asList(
+        List.of(
             new Pose2d(2.75, 22.521, new Rotation2d()),
             new Pose2d(24.73, 19.68, Rotation2d.fromDegrees(5.846)));
     var trajectory =
diff --git a/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
index 7faa82a3ead..bcc33aec678 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
@@ -26,7 +26,6 @@
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import edu.wpi.first.math.trajectory.TrajectoryConfig;
 import edu.wpi.first.math.trajectory.TrajectoryGenerator;
-import java.util.Arrays;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
@@ -137,7 +136,7 @@ void testConvergence() {
             dtSeconds);
 
     List<Pose2d> waypoints =
-        Arrays.asList(
+        List.of(
             new Pose2d(2.75, 22.521, new Rotation2d()),
             new Pose2d(24.73, 19.68, Rotation2d.fromDegrees(5.846)));
     var trajectory =
diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
index ee1d98c8c19..3ef8a483563 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
@@ -11,7 +11,7 @@
 
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.util.Units;
-import java.util.Arrays;
+import java.util.List;
 import org.junit.jupiter.api.Test;
 
 class Pose3dTest {
@@ -194,7 +194,7 @@ void testToPose2d() {
   @Test
   void testComplexTwists() {
     var initial_poses =
-        Arrays.asList(
+        List.of(
             new Pose3d(
                 new Translation3d(0.698303, -0.959096, 0.271076),
                 new Rotation3d(new Quaternion(0.86403, -0.076866, 0.147234, 0.475254))),
@@ -212,7 +212,7 @@ void testComplexTwists() {
                 new Rotation3d(new Quaternion(0.807886, 0.029298, 0.257788, 0.529157))));
 
     var final_poses =
-        Arrays.asList(
+        List.of(
             new Pose3d(
                 new Translation3d(-0.230448, -0.511957, 0.198406),
                 new Rotation3d(new Quaternion(0.753984, 0.347016, 0.409105, 0.379106))),
@@ -267,7 +267,7 @@ void testComplexTwists() {
   @Test
   void testTwistNaN() {
     var initial_poses =
-        Arrays.asList(
+        List.of(
             new Pose3d(
                 new Translation3d(6.32, 4.12, 0.00),
                 new Rotation3d(
@@ -277,7 +277,7 @@ void testTwistNaN() {
                 new Rotation3d(
                     new Quaternion(0.9999999999999793, 0.0, 0.0, 2.0352360299846772E-7))));
     var final_poses =
-        Arrays.asList(
+        List.of(
             new Pose3d(
                 new Translation3d(6.33, 4.15, 0.00),
                 new Rotation3d(
diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java
index 7e76c894aa4..4b0f3fc158c 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java
@@ -16,7 +16,6 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.trajectory.constraint.TrajectoryConstraint;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
@@ -73,7 +72,7 @@ void testGenerationAndConstraints() {
   void testMalformedTrajectory() {
     var traj =
         TrajectoryGenerator.generateTrajectory(
-            Arrays.asList(
+            List.of(
                 new Pose2d(0, 0, Rotation2d.fromDegrees(0)),
                 new Pose2d(1, 0, Rotation2d.fromDegrees(180))),
             new TrajectoryConfig(feetToMeters(12), feetToMeters(12)));
@@ -86,7 +85,7 @@ void testMalformedTrajectory() {
   void testQuinticCurvatureOptimization() {
     Trajectory t =
         TrajectoryGenerator.generateTrajectory(
-            Arrays.asList(
+            List.of(
                 new Pose2d(1, 0, Rotation2d.fromDegrees(90)),
                 new Pose2d(0, 1, Rotation2d.fromDegrees(180)),
                 new Pose2d(-1, 0, Rotation2d.fromDegrees(270)),
diff --git a/wpiutil/src/printlog/java/printlog/PrintLog.java b/wpiutil/src/printlog/java/printlog/PrintLog.java
index e9339b68aad..b3d972b47ae 100644
--- a/wpiutil/src/printlog/java/printlog/PrintLog.java
+++ b/wpiutil/src/printlog/java/printlog/PrintLog.java
@@ -10,9 +10,9 @@
 import java.time.LocalDateTime;
 import java.time.ZoneOffset;
 import java.time.format.DateTimeFormatter;
-import java.util.Arrays;
 import java.util.HashMap;
 import java.util.InputMismatchException;
+import java.util.List;
 import java.util.Map;
 
 public final class PrintLog {
@@ -133,11 +133,11 @@ public static void main(String[] args) {
           } else if ("boolean".equals(entry.type)) {
             System.out.println("  " + record.getBoolean());
           } else if ("double[]".equals(entry.type)) {
-            System.out.println("  " + Arrays.asList(record.getDoubleArray()));
+            System.out.println("  " + List.of(record.getDoubleArray()));
           } else if ("int64[]".equals(entry.type)) {
-            System.out.println("  " + Arrays.asList(record.getIntegerArray()));
+            System.out.println("  " + List.of(record.getIntegerArray()));
           } else if ("string[]".equals(entry.type)) {
-            System.out.println("  " + Arrays.asList(record.getStringArray()));
+            System.out.println("  " + List.of(record.getStringArray()));
           }
         } catch (InputMismatchException ex) {
           System.out.println("  invalid");