From 17a95d4587e260cd8ba54f9c977c82df241c173a Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Mon, 3 Jun 2024 03:46:47 -0400
Subject: [PATCH] Fixes

---
 .../edu/wpi/first/wpilibj/ADIS16470_IMU.java  | 56 ++++++++++---------
 .../wpilibj/simulation/ADIS16448SimTest.java  | 32 +++--------
 .../edu/wpi/first/math/filter/Debouncer.java  |  2 +-
 3 files changed, 39 insertions(+), 51 deletions(-)

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
index 2152603d118..b3cc31c51cf 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -1159,25 +1159,27 @@ public synchronized double getAngle(IMUAxis axis) {
    * @return The Yaw axis angle in degrees (CCW positive).
    */
   public synchronized double getAngle() {
-    switch (m_yaw_axis) {
-      case kX:
+    return switch (m_yaw_axis) {
+      case kX -> {
         if (m_simGyroAngleX != null) {
-          return m_simGyroAngleX.get();
+          yield m_simGyroAngleX.get();
         }
-        return m_integ_angle_x;
-      case kY:
+        yield m_integ_angle_x;
+      }
+      case kY -> {
         if (m_simGyroAngleY != null) {
-          return m_simGyroAngleY.get();
+          yield m_simGyroAngleY.get();
         }
-        return m_integ_angle_y;
-      case kZ:
+        yield m_integ_angle_y;
+      }
+      case kZ -> {
         if (m_simGyroAngleZ != null) {
-          return m_simGyroAngleZ.get();
+          yield m_simGyroAngleZ.get();
         }
-        return m_integ_angle_z;
-      default:
-    }
-    return 0.0;
+        yield m_integ_angle_z;
+      }
+      default -> 0.0;
+    };
   }
 
   /**
@@ -1224,25 +1226,27 @@ public synchronized double getRate(IMUAxis axis) {
    * @return Yaw axis angular rate in degrees per second (CCW positive).
    */
   public synchronized double getRate() {
-    switch (m_yaw_axis) {
-      case kX:
+    return switch (m_yaw_axis) {
+      case kX -> {
         if (m_simGyroRateX != null) {
-          return m_simGyroRateX.get();
+          yield m_simGyroRateX.get();
         }
-        return m_gyro_rate_x;
-      case kY:
+        yield m_gyro_rate_x;
+      }
+      case kY -> {
         if (m_simGyroRateY != null) {
-          return m_simGyroRateY.get();
+          yield m_simGyroRateY.get();
         }
-        return m_gyro_rate_y;
-      case kZ:
+        yield m_gyro_rate_y;
+      }
+      case kZ -> {
         if (m_simGyroRateZ != null) {
-          return m_simGyroRateZ.get();
+          yield m_simGyroRateZ.get();
         }
-        return m_gyro_rate_z;
-      default:
-    }
-    return 0.0;
+        yield m_gyro_rate_z;
+      }
+      default -> 0.0;
+    };
   }
 
   /**
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADIS16448SimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADIS16448SimTest.java
index 419763503a3..16da98518af 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADIS16448SimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADIS16448SimTest.java
@@ -93,18 +93,10 @@ void testAngleBasedOnYawAxis(
       sim.setGyroAngleZ(4.13);
 
       switch (yawAxis) {
-        case kX:
-          assertEquals(imu.getAngle(), imu.getGyroAngleX());
-          break;
-        case kY:
-          assertEquals(imu.getAngle(), imu.getGyroAngleY());
-          break;
-        case kZ:
-          assertEquals(imu.getAngle(), imu.getGyroAngleZ());
-          break;
-        default:
-          fail("invalid YawAxis!");
-          break;
+        case kX -> assertEquals(imu.getAngle(), imu.getGyroAngleX());
+        case kY -> assertEquals(imu.getAngle(), imu.getGyroAngleY());
+        case kZ -> assertEquals(imu.getAngle(), imu.getGyroAngleZ());
+        default -> fail("invalid YawAxis!");
       }
     }
   }
@@ -122,18 +114,10 @@ void testRateBasedOnYawAxis(
       sim.setGyroRateZ(20.71);
 
       switch (yawAxis) {
-        case kX:
-          assertEquals(imu.getRate(), imu.getGyroRateX());
-          break;
-        case kY:
-          assertEquals(imu.getRate(), imu.getGyroRateY());
-          break;
-        case kZ:
-          assertEquals(imu.getRate(), imu.getGyroRateZ());
-          break;
-        default:
-          fail("invalid YawAxis!");
-          break;
+        case kX -> assertEquals(imu.getRate(), imu.getGyroRateX());
+        case kY -> assertEquals(imu.getRate(), imu.getGyroRateY());
+        case kZ -> assertEquals(imu.getRate(), imu.getGyroRateZ());
+        default -> fail("invalid YawAxis!");
       }
     }
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java b/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
index d3fa993cdef..9a281e83f75 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java
@@ -41,7 +41,7 @@ public Debouncer(double debounceTime, DebounceType type) {
     resetTimer();
 
     m_baseline =
-        m_debounceType) {
+        switch (m_debounceType) {
           case kBoth, kRising -> false;
           case kFalling -> true;
         };