Review fixes

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

@@ -73,7 +73,7 @@ public RobotContainer() {
       }
     }
 
-    // Confiure PathPlanner
+    // Configure PathPlanner
     AutoBuilder.configureHolonomic(
         () -> PoseEstimator.getInstance().getPose(),
         (pose) -> PoseEstimator.getInstance().resetPose(pose),
@@ -86,14 +86,10 @@ public RobotContainer() {
         m_drive);
     Pathfinding.setPathfinder(new LocalADStarAK());
     PathPlannerLogging.setLogActivePathCallback(
-        (activePath) -> {
-          Logger.recordOutput(
-              "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
-        });
+        (activePath) ->
+            Logger.recordOutput("Odometry/Trajectory", activePath.toArray(new Pose2d[0])));
     PathPlannerLogging.setLogTargetPoseCallback(
-        (targetPose) -> {
-          Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
-        });
+        (targetPose) -> Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose));
 
     autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
 

src/main/java/frc/robot/commands/drive/FeedForwardCharacterization.java

@@ -80,7 +80,7 @@ public void add(double velocity, double voltage) {
     }
 
     public void print() {
-      if (velocityData.size() == 0 || voltageData.size() == 0) {
+      if (velocityData.isEmpty() || voltageData.isEmpty()) {
         return;
       }
 
@@ -91,10 +91,10 @@ public void print() {
               1);
 
       System.out.println("FF Characterization Results:");
-      System.out.println("\tCount=" + Integer.toString(velocityData.size()) + "");
-      System.out.println(String.format("\tR2=%.5f", regression.R2()));
-      System.out.println(String.format("\tkS=%.5f", regression.beta(0)));
-      System.out.println(String.format("\tkV=%.5f", regression.beta(1)));
+      System.out.println("\tCount=" + velocityData.size());
+      System.out.printf("\tR2=%.5f%n", regression.R2());
+      System.out.printf("\tkS=%.5f%n", regression.beta(0));
+      System.out.printf("\tkV=%.5f%n", regression.beta(1));
     }
   }
 }

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

@@ -9,7 +9,7 @@
 public final class Constants {
   private static RobotType kRobotType = RobotType.ROBOT_SIMBOT;
 
-  public static double kLoopPeriodSecs = 0.02;
+  public static final double kLoopPeriodSecs = 0.02;
 
   public enum RobotMode {
     REAL,

src/main/java/frc/robot/subsystems/drive/DriveBase.java

@@ -14,7 +14,7 @@
 import org.littletonrobotics.junction.Logger;
 
 public class DriveBase extends SubsystemBase {
-  public static double ODOMETRY_FREQUENCY = 250.0;
+  public static final double ODOMETRY_FREQUENCY = 250.0;
 
   private final GyroIO m_gyroIO;
   private final GyroIOInputsAutoLogged m_gyroInputs = new GyroIOInputsAutoLogged();

src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java

@@ -75,9 +75,7 @@ public void updateInputs(GyroIOInputs inputs) {
     inputs.accelZ = m_accelZ.getValueAsDouble();
 
     inputs.odometryYawPositions =
-        yawPositionQueue.stream()
-            .map((Double value) -> Rotation2d.fromDegrees(value))
-            .toArray(Rotation2d[]::new);
+        yawPositionQueue.stream().map(Rotation2d::fromDegrees).toArray(Rotation2d[]::new);
     this.yawPositionQueue.clear();
   }
 }

src/main/java/frc/robot/subsystems/drive/ModuleIOSparkMax.java

@@ -83,7 +83,7 @@ public void updateInputs(ModuleIOInputs inputs) {
     inputs.driveAppliedVolts = m_driveMotor.getAppliedOutput() * m_driveMotor.getBusVoltage();
     inputs.driveCurrentAmps = new double[] {m_driveMotor.getOutputCurrent()};
 
-    // Refresh the Encoder data becasue it is cached. This is non-blocking.
+    // Refresh the Encoder data because it is cached. This is non-blocking.
     m_turnAbsoluteEncoder.refresh();
     inputs.turnAbsolutePosition =
         Rotation2d.fromRotations(m_turnAbsoluteEncoder.getValueAsDouble());

src/main/java/frc/robot/subsystems/drive/SparkMaxOdometryThread.java

@@ -15,8 +15,8 @@
  * blocking thread. A Notifier thread is used to gather samples with consistent timing.
  */
 public class SparkMaxOdometryThread {
-  private List<DoubleSupplier> signals = new ArrayList<>();
-  private List<Queue<Double>> queues = new ArrayList<>();
+  private final List<DoubleSupplier> signals = new ArrayList<>();
+  private final List<Queue<Double>> queues = new ArrayList<>();
 
   private final Notifier notifier;
   private static SparkMaxOdometryThread instance = null;

src/main/java/frc/robot/util/PolynomialRegression.java

@@ -7,7 +7,7 @@
 // http://algs4.cs.princeton.edu/14analysis/PolynomialRegression.java.html
 
 /**
- * The {@code PolynomialRegression} class performs a polynomial regression on an set of <em>N</em>
+ * The {@code PolynomialRegression} class performs a polynomial regression on a set of <em>N</em>
  * data points (<em>y<sub>i</sub></em>, <em>x<sub>i</sub></em>). That is, it fits a polynomial
  * <em>y</em> = &beta;<sub>0</sub> + &beta;<sub>1</sub> <em>x</em> + &beta;<sub>2</sub>
  * <em>x</em><sup>2</sup> + ... + &beta;<sub><em>d</em></sub> <em>x</em><sup><em>d</em></sup> (where
@@ -154,20 +154,20 @@ public double predict(double x) {
    *     polynomial and the coefficient of determination <em>R</em><sup>2</sup>
    */
   public String toString() {
-    StringBuilder s = new StringBuilder();
     int j = degree;
 
     // ignoring leading zero coefficients
     while (j >= 0 && Math.abs(beta(j)) < 1E-5) j--;
 
+    StringBuilder s = new StringBuilder();
     // create remaining terms
     while (j >= 0) {
       if (j == 0) s.append(String.format("%.10f ", beta(j)));
       else if (j == 1) s.append(String.format("%.10f %s + ", beta(j), variableName));
       else s.append(String.format("%.10f %s^%d + ", beta(j), variableName, j));
       j--;
     }
-    s = s.append("  (R^2 = " + String.format("%.3f", R2()) + ")");
+    s.append("  (R^2 = ").append(String.format("%.3f", R2())).append(")");
 
     // replace "+ -2n" with "- 2n"
     return s.toString().replace("+ -", "- ");