example review

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/apriltagsvision/Robot.java

@@ -32,7 +32,7 @@
 public class Robot extends TimedRobot {
   @Override
   public void robotInit() {
-    var visionThread = new Thread(() -> apriltagVisionThreadProc());
+    var visionThread = new Thread(this::apriltagVisionThreadProc);
     visionThread.setDaemon(true);
     visionThread.start();
   }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java

@@ -78,7 +78,7 @@ private void configureButtonBindings() {
                     // End at desired position in meters; implicitly starts at 0
                     () -> new TrapezoidProfile.State(3, 0),
                     // Current position
-                    () -> new TrapezoidProfile.State(),
+                    TrapezoidProfile.State::new,
                     // Require the drive
                     m_robotDrive)
                 .beforeStarting(m_robotDrive::resetEncoders)

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/commands/DriveDistanceProfiled.java

@@ -29,7 +29,7 @@ public DriveDistanceProfiled(double meters, DriveSubsystem drive) {
         // End at desired position in meters; implicitly starts at 0
         () -> new TrapezoidProfile.State(meters, 0),
         // Current position
-        () -> new TrapezoidProfile.State(),
+            TrapezoidProfile.State::new,
         // Require the drive
         drive);
     // Reset drive encoders since we're starting at 0

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

@@ -49,17 +49,13 @@ 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.
-              // The switch is open when the pressure is over ~120 PSI.
-              m_compressor.enableDigital();
-            })
+            m_compressor::disable,
+            // Enable closed-loop mode based on the digital pressure switch connected to the
+            // PCM/PH.
+            // The switch is open when the pressure is over ~120 PSI.
+            m_compressor::enableDigital)
         .withName("Compressor Disabled");
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java

@@ -53,33 +53,25 @@ public void robotInit() {
     tab.add("Compressor", m_compressor);
 
     // Also publish some raw data
+    // Get the pressure (in PSI) from the analog sensor connected to the PH.
+    // This function is supported only on the PH!
+    // On a PCM, this function will return 0.
     tab.addDouble(
         "PH Pressure [PSI]",
-        () -> {
-          // Get the pressure (in PSI) from the analog sensor connected to the PH.
-          // This function is supported only on the PH!
-          // On a PCM, this function will return 0.
-          return m_compressor.getPressure();
-        });
+            m_compressor::getPressure);
+    // Get compressor current draw.
     tab.addDouble(
         "Compressor Current",
-        () -> {
-          // Get compressor current draw.
-          return m_compressor.getCurrent();
-        });
+            m_compressor::getCurrent);
+    // Get whether the compressor is active.
     tab.addBoolean(
         "Compressor Active",
-        () -> {
-          // Get whether the compressor is active.
-          return m_compressor.isEnabled();
-        });
+            m_compressor::isEnabled);
+    // Get the digital pressure switch connected to the PCM/PH.
+    // The switch is open when the pressure is over ~120 PSI.
     tab.addBoolean(
         "Pressure Switch",
-        () -> {
-          // Get the digital pressure switch connected to the PCM/PH.
-          // The switch is open when the pressure is over ~120 PSI.
-          return m_compressor.getPressureSwitchValue();
-        });
+            m_compressor::getPressureSwitchValue);
   }
 
   @SuppressWarnings("PMD.UnconditionalIfStatement")