add linting

.github/workflows/build.yml

@@ -45,4 +45,33 @@ jobs:
         java-version: 17
         distribution: temurin
     - name: Run formatter
-      run: ./gradlew spotlessCheck
+      run: ./gradlew spotlessCheck
+
+  lint:
+    name: "Linter"
+    runs-on: ubuntu-latest
+    # permissions:
+    #   contents: read # for actions/checkout to fetch code
+    #   security-events: write # for github/codeql-action/upload-sarif to upload SARIF results
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Grant execute permission for gradlew
+        run: chmod +x gradlew
+      - name: Set up JDK 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Run PMD
+        id: pmd
+        uses: pmd/pmd-github-action@967a81f8b657c87f7c3e96b62301cb1a48efef29
+        with:
+          rulesets: 'pmd-ruleset.xml'
+          # sourcePath: 'src/main/java'
+          analyzeModifiedFilesOnly: false
+      - name: Upload SARIF file
+        uses: github/codeql-action/upload-sarif@v3
+        with:
+          sarif_file: pmd-report.sarif

build.gradle

@@ -150,3 +150,14 @@ spotless {
         endWithNewline()
     }
 }
+
+apply plugin: "pmd"
+
+pmd {
+    toolVersion = "7.3.0"
+    consoleOutput = true
+    sourceSets = [project.sourceSets["main"]]
+    reportsDir = file("${project.buildDir}/reports/pmd")
+    ruleSetFiles = files(file("$rootDir/pmd-ruleset.xml"))
+    ruleSets = []
+}

pmd-ruleset.xml

@@ -0,0 +1,125 @@
+<?xml version="1.0"?>
+<ruleset name="WPILibRuleset"
+  xmlns="http://pmd.sourceforge.net/ruleset/2.0.0"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://pmd.sourceforge.net/ruleset/2.0.0 http://pmd.sourceforge.net/ruleset_2_0_0.xsd">
+
+  <description>PMD Ruleset for WPILib</description>
+
+  <exclude-pattern>.*/LimeligtHelpers.java</exclude-pattern>
+
+  <rule ref="category/java/bestpractices.xml">
+    <exclude name="AccessorClassGeneration" />
+    <exclude name="AccessorMethodGeneration" />
+    <exclude name="AvoidPrintStackTrace" />
+    <exclude name="AvoidReassigningCatchVariables" />
+    <exclude name="AvoidReassigningParameters" />
+    <exclude name="AvoidUsingHardCodedIP" />
+    <exclude name="ConstantsInInterface" />
+    <exclude name="JUnitAssertionsShouldIncludeMessage" />
+    <exclude name="JUnitTestContainsTooManyAsserts" />
+    <exclude name="JUnitTestsShouldIncludeAssert" />
+    <exclude name="JUnit4TestShouldUseAfterAnnotation" />
+    <exclude name="JUnit4TestShouldUseBeforeAnnotation" />
+    <exclude name="JUnit4TestShouldUseTestAnnotation" />
+    <exclude name="LooseCoupling" />
+    <exclude name="PreserveStackTrace" />
+    <exclude name="ReplaceHashtableWithMap" />
+    <exclude name="ReplaceVectorWithList" />
+    <exclude name="SwitchStmtsShouldHaveDefault" />
+    <exclude name="SystemPrintln" />
+    <exclude name="UseVarargs" />
+  </rule>
+  <rule ref="category/java/bestpractices.xml/UnusedPrivateMethod">
+    <properties>
+      <property name="violationSuppressRegex"
+        value=".*'.*Arguments\(\)'.*" />
+    </properties>
+  </rule>
+  <rule ref="category/java/bestpractices.xml/UnusedLocalVariable">
+    <properties>
+      <property name="violationSuppressXPath" value="//Resource" />
+    </properties>
+  </rule>
+
+  <rule ref="category/java/design.xml">
+    <exclude name="AvoidThrowingRawExceptionTypes" />
+    <exclude name="AvoidThrowingNewInstanceOfSameException" />
+    <exclude name="CognitiveComplexity" />
+    <exclude name="CouplingBetweenObjects" />
+    <exclude name="CyclomaticComplexity" />
+    <exclude name="DataClass" />
+    <exclude name="ExceptionAsFlowControl" />
+    <exclude name="ExcessiveImports" />
+    <exclude name="ExcessiveParameterList" />
+    <exclude name="ExcessivePublicCount" />
+    <exclude name="GodClass" />
+    <exclude name="LawOfDemeter" />
+    <exclude name="LoosePackageCoupling" />
+    <exclude name="NPathComplexity" />
+    <exclude name="NcssCount" />
+    <exclude name="TooManyFields" />
+    <exclude name="TooManyMethods" />
+  </rule>
+
+  <rule ref="category/java/errorprone.xml">
+    <exclude name="AssignmentToNonFinalStatic" />
+    <exclude name="AvoidCatchingThrowable" />
+    <exclude name="AvoidDuplicateLiterals" />
+    <exclude name="AvoidLiteralsInIfCondition" />
+    <exclude name="CloseResource" />
+    <exclude name="ConstructorCallsOverridableMethod" />
+    <exclude name="DoNotTerminateVM" />
+    <exclude name="EmptyCatchBlock" />
+    <exclude name="FinalizeDoesNotCallSuperFinalize" />
+    <exclude name="JUnitSpelling" />
+    <exclude name="MissingSerialVersionUID" />
+    <exclude name="NonSerializableClass" />
+    <exclude name="NullAssignment" />
+  </rule>
+
+  <rule ref="category/java/multithreading.xml">
+    <exclude name="AvoidSynchronizedAtMethodLevel" />
+    <exclude name="AvoidUsingVolatile" />
+    <exclude name="DoNotUseThreads" />
+    <exclude name="UseConcurrentHashMap" />
+  </rule>
+
+  <rule ref="category/java/performance.xml">
+    <exclude name="AvoidInstantiatingObjectsInLoops" />
+  </rule>
+
+  <rule name="UnnecessaryCastRule" language="java"
+    message="Avoid unnecessary casts"
+    class="net.sourceforge.pmd.lang.java.rule.codestyle.UnnecessaryCastRule"
+    externalInfoUrl="https://github.com/pmd/pmd/blob/master/pmd-java/src/main/java/net/sourceforge/pmd/lang/java/rule/codestyle/UnnecessaryCastRule.java" />
+
+  <!-- Custom Rules -->
+  <rule name="UseRequireNonNull"
+    message="Use Objects.requireNonNull() instead of throwing a NullPointerException yourself."
+    language="java" class="net.sourceforge.pmd.lang.rule.xpath.XPathRule">
+    <description>Use Objects.requireNonNull() instead of throwing a
+      NullPointerException yourself.</description>
+    <properties>
+      <property name="xpath">
+        <value>
+          <![CDATA[
+            //IfStatement[child::Expression//NullLiteral]/Statement//ThrowStatement/Expression/PrimaryExpression/PrimaryPrefix/AllocationExpression/ClassOrInterfaceType[@Image='NullPointerException']
+          ]]>
+        </value>
+      </property>
+    </properties>
+    <priority>3</priority>
+    <example>
+<![CDATA[
+                public class Example {
+                    public Example(Object example) {
+                        if (example == null) {
+                            throw new NullPointerException();
+                        }
+                    }
+                }
+            ]]>
+    </example>
+  </rule>
+</ruleset>

src/main/java/frc/robot/Constants.java

@@ -415,7 +415,7 @@ public static final class PivotConstants {
     public static final double SHOOT_TRAP_ANGLE = 0;
     public static final double PIVOT_ACCEPTABLE_ERROR = 0.015;
 
-    public static double[][] SPEAKER_PIVOT_POSITION = {
+    public static final double[][] SPEAKER_PIVOT_POSITION = {
       // Distance, Angle (rotations)
       {1.3, 0.029},
       {1.5, 0.037265625},
@@ -438,7 +438,7 @@ public static final class PivotConstants {
       {4.9, 0.1135}
     };
 
-    public static double[][] PASS_PIVOT_POSITION = {
+    public static final double[][] PASS_PIVOT_POSITION = {
       // Distance, Angle (rotations)
       {10.680643009839416, 0.037400390625},
       {9.11398136590441, 0.038},
@@ -482,24 +482,24 @@ public static final class ShooterConstants {
     public static final double AUTO_SHOOT_P = 5; // 7 --> 4.5 --> 5
     public static final double AUTO_SHOOT_I = 0.0;
     public static final double AUTO_SHOOT_D = 0.0;
-    public static Constraints AUTO_SHOOT_CONSTRAINTS =
+    public static final Constraints AUTO_SHOOT_CONSTRAINTS =
         new Constraints(DriveConstants.MAX_ANGULAR_SPEED_RADIANS_PER_SECOND, 2);
 
     public static final double AUTO_SHOOT_MOVE_P = 10.0;
     public static final double AUTO_SHOOT_MOVE_I = 0.0;
     public static final double AUTO_SHOOT_MOVE_D = 0.0;
-    public static Constraints AUTO_SHOOT_MOVE_CONSTRAINTS = new Constraints(10, 5);
+    public static final Constraints AUTO_SHOOT_MOVE_CONSTRAINTS = new Constraints(10, 5);
 
     public static final double AUTO_LINEUP_ROTATION_P = 3;
     public static final double AUTO_LINEUP_ROTATION_I = 0.0;
     public static final double AUTO_LINEUP_ROTATION_D = 0.0;
-    public static Constraints AUTO_LINEUP_ROTATION_CONSTRAINTS =
+    public static final Constraints AUTO_LINEUP_ROTATION_CONSTRAINTS =
         new Constraints(DriveConstants.MAX_ANGULAR_SPEED_RADIANS_PER_SECOND, 2);
 
     public static final double AUTO_LINEUP_TRANSLATION_P = 10; // 4.5, 4.0
     public static final double AUTO_LINEUP_TRANSLATION_I = 0.0;
     public static final double AUTO_LINEUP_TRANSLATION_D = 0.0;
-    public static Constraints AUTO_LINEUP_TRANSLATION_CONSTRAINTS = new Constraints(1, 1);
+    public static final Constraints AUTO_LINEUP_TRANSLATION_CONSTRAINTS = new Constraints(1, 1);
 
     // TODO: calc
     public static final double NOTE_LAUNCH_VELOCITY_METERS_PER_SECOND = 10.8;
@@ -552,13 +552,13 @@ public static final class TrajectoryConstants {
     public static final double AUTO_ALIGN_TRANSLATIONAL_I = 0;
     public static final double AUTO_ALIGN_TRANSLATIONAL_D = 0;
 
-    public static Constraints AUTO_ALIGN_TRANSLATION_CONSTRAINTS = new Constraints(5, 2);
+    public static final Constraints AUTO_ALIGN_TRANSLATION_CONSTRAINTS = new Constraints(5, 2);
 
     public static final double AUTO_ALIGN_ROTATIONAL_P = 3;
     public static final double AUTO_ALIGN_ROTATIONAL_I = 0;
     public static final double AUTO_ALIGN_ROTATIONAL_D = 0;
 
-    public static Constraints AUTO_ALIGN_ROTATIONAL_CONSTRAINTS =
+    public static final Constraints AUTO_ALIGN_ROTATIONAL_CONSTRAINTS =
         new Constraints(DriveConstants.MAX_ANGULAR_SPEED_RADIANS_PER_SECOND, 2);
   }
 

src/main/java/frc/robot/RobotContainer.java

@@ -223,7 +223,7 @@ private void configureButtonBindings() {
 
     Trigger driverRightBumper = new Trigger(driverController::getRightBumper);
     Trigger driverRightDirectionPad = new Trigger(() -> driverController.getPOV() == 90);
-    Trigger driverDownDirectionPad = new Trigger(() -> driverController.getPOV() == 180);
+    // Trigger driverDownDirectionPad = new Trigger(() -> driverController.getPOV() == 180);
     Trigger driverLeftDirectionPad = new Trigger(() -> driverController.getPOV() == 270);
 
     // autodrive
@@ -233,8 +233,8 @@ private void configureButtonBindings() {
     Trigger operatorLeftTrigger = new Trigger(() -> operatorController.getLeftTriggerAxis() > 0.2);
     Trigger operatorLeftBumper = new Trigger(operatorController::getLeftBumper);
     // amp and speaker
-    Trigger operatorBButton = new Trigger(operatorController::getBButton);
-    Trigger operatorRightBumper = new Trigger(operatorController::getRightBumper);
+    // Trigger operatorBButton = new Trigger(operatorController::getBButton);
+    // Trigger operatorRightBumper = new Trigger(operatorController::getRightBumper);
     Trigger operatorRightTrigger =
         new Trigger(() -> operatorController.getRightTriggerAxis() > 0.2);
     Trigger driverRightTrigger = new Trigger(() -> driverController.getRightTriggerAxis() > 0.2);
@@ -246,13 +246,13 @@ private void configureButtonBindings() {
     DoubleSupplier operatorRightStickY = operatorController::getRightY;
     // unused
     Trigger operatorUpDirectionPad = new Trigger(() -> operatorController.getPOV() == 0);
-    Trigger operatorLeftDirectionPad = new Trigger(() -> operatorController.getPOV() == 270);
+    // Trigger operatorLeftDirectionPad = new Trigger(() -> operatorController.getPOV() == 270);
     Trigger operatorDownDirectionPad = new Trigger(() -> operatorController.getPOV() == 180);
     Trigger driverLeftTrigger = new Trigger(() -> driverController.getLeftTriggerAxis() > 0.2);
     Trigger driverLeftBumper = new Trigger(driverController::getLeftBumper);
     Trigger driverBButton = new Trigger(driverController::getBButton);
-    Trigger driverYButton = new Trigger(driverController::getYButton);
-    DoubleSupplier operatorLeftStickY = operatorController::getLeftY;
+    // Trigger driverYButton = new Trigger(driverController::getYButton);
+    // DoubleSupplier operatorLeftStickY = operatorController::getLeftY;
 
     // DRIVER BUTTONS
 

src/main/java/frc/robot/commands/shooter/AutoSpinUp.java

@@ -26,16 +26,12 @@ public class AutoSpinUp extends DriveCommandBase {
   private final DriveSubsystem driveSubsystem;
   private final ShooterSubsystem shooterSubsystem;
   private final PivotSubsystem pivotSubsystem;
-  private final VisionSubsystem visionSubsystem;
   private final LEDSubsystem leds;
 
   private final DoubleSupplier leftX, leftY, rightX;
   private final BooleanSupplier isFieldRelative;
 
-  private double headingError = 0;
-
-  private boolean isRed = false;
-  private double desiredHeading = 0;
+  private double desiredHeading;
   private Translation2d speakerPos;
 
   /** Creates a new SpinUpForSpeaker. */
@@ -53,7 +49,6 @@ public AutoSpinUp(
     this.driveSubsystem = driveSubsystem;
     this.shooterSubsystem = shooterSubsystem;
     this.pivotSubsystem = pivotSubsystem;
-    this.visionSubsystem = visionSubsystem;
     this.leftX = leftX;
     this.leftY = leftY;
     this.rightX = rightX;
@@ -66,14 +61,8 @@ public AutoSpinUp(
   @Override
   public void initialize() {
     Optional<Alliance> alliance = DriverStation.getAlliance();
-    // if alliance is detected
-    if (alliance.isPresent()) {
-      // and if it's red, we're red
-      isRed = alliance.get() == Alliance.Red;
-    } else {
-      // otherwise default to red alliance
-      isRed = true;
-    }
+    boolean isRed = alliance.get() == Alliance.Red;
+
     // SmartDashboard.putBoolean("red", isRed);
     speakerPos =
         isRed
@@ -89,15 +78,10 @@ public void execute() {
 
     // get positions of various things
     Translation2d robotPos = driveSubsystem.getPose().getTranslation();
-    // distance (for speaker lookups)
-    double distance = robotPos.getDistance(speakerPos);
     // arctangent for desired heading
     desiredHeading =
         Math.atan2((robotPos.getY() - speakerPos.getY()), (robotPos.getX() - speakerPos.getX()));
 
-    // current
-    headingError = desiredHeading - driveSubsystem.getOdometryRotation2d().getRadians();
-
     // allow the driver to drive slowly (NOT full speed - will mess up shooter)
     driveSubsystem.drive(
         deadband(leftY.getAsDouble()) * DriveConstants.MAX_SPEED_METERS_PER_SECOND,
@@ -129,10 +113,7 @@ public boolean isFinished() {
   }
 
   public boolean isInRange() {
-    if (desiredHeading > 25) {
-      return true;
-    }
-    return false;
+    return (desiredHeading > 25);
   }
 
   private double deadband(double val) {

src/main/java/frc/robot/subsystems/vision/VisionSubsystem.java

@@ -27,7 +27,7 @@ public class VisionSubsystem extends SubsystemBase {
    * The pose estimates from the limelights in the following order {shooterLimelight,
    * frontLeftLimelight, frontRightLimelight}
    */
-  private PoseEstimate[] limelightEstimates;
+  private final PoseEstimate[] limelightEstimates;
 
   public VisionSubsystem() {
     limelightEstimates = new PoseEstimate[3];