Use fields everywhere.

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/jacksonWrappers/MappedDigitalInput.java

@@ -18,6 +18,11 @@ public class MappedDigitalInput {
 	 */
 	@JsonIgnore
 	private final List<DigitalInput> digitalInputs;
+
+	/**
+	 * Value of the inputs. Field to avoid garbage collection.
+	 */
+	private List<Boolean> digitalValues;
 
 	/**
 	 * Construct a MappedDigitalInput.
@@ -41,7 +46,7 @@ public MappedDigitalInput(@NotNull @JsonProperty(required = true) int[] ports) {
 	@JsonIgnore
 	@NotNull
 	public List<Boolean> getStatus() {
-		List<Boolean> digitalValues = new ArrayList<>();
+		digitalValues = new ArrayList<>();
 		for (DigitalInput digitalInput : digitalInputs) {
 			//Negated because, by default, false means signal and true means no signal, and that's dumb.
 			digitalValues.add(!digitalInput.get());

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/OIOutreach.java

@@ -30,8 +30,14 @@ public class OIOutreach implements OIUnidirectional {
 	@NotNull
 	private final Button button;
 
+	/**
+	 * The cached outputs for the left and right sides of the drive.
+	 */
 	private double cachedLeftOutput, cachedRightOutput;
 
+	/**
+	 * Whether the driver was trying to drive straight when values were cached.
+	 */
 	private boolean cachedCommandingStraight;
 
 	@JsonCreator

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcade.java

@@ -9,8 +9,14 @@
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
 public abstract class OIArcade implements OIUnidirectional {
 
+	/**
+	 * Cached output values.
+	 */
 	private double rotCached, fwdCached, leftCached, rightCached;
 
+	/**
+	 * Whether the driver was trying to drive straight when values were cached.
+	 */
 	private boolean commandingStraightCached;
 
 	/**

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/arcade/OIArcadeWithDPad.java

@@ -55,16 +55,6 @@ public class OIArcadeWithDPad extends OIArcade implements Loggable {
 	 */
 	private final double turnInPlaceRotScale;
 
-	/**
-	 * Cached forwards and rotation values.
-	 */
-	private double cachedFwd, cachedRot;
-
-	/**
-	 * The time velocity and rotation were cached at.
-	 */
-	private long timeLastCached;
-
 	/**
 	 * Default constructor
 	 *
@@ -95,31 +85,7 @@ public OIArcadeWithDPad(
 		this.turnInPlaceRotScale = turnInPlaceRotScale;
 		timeLastCached = 0;
 	}
-
-	/**
-	 * Calculate and cache the values of fwd and rot.
-	 */
-	private void cacheValues() {
-		if (Clock.currentTimeMillis() > timeLastCached) {
-			timeLastCached = Clock.currentTimeMillis();
-
-			//Forwards is simple
-			cachedFwd = fwdThrottle.getValue();
-
-			//If the gamepad is being pushed to the left or right
-			if (gamepad != null && !(gamepad.getPOV() == -1 || gamepad.getPOV() % 180 == 0)) {
-				//Output the shift value
-				cachedRot = gamepad.getPOV() < 180 ? dPadShift : -dPadShift;
-			} else if (cachedFwd == 0) { //Turning in place
-				cachedRot = rotThrottle.getValue() * turnInPlaceRotScale;
-			} else if (scaleRotByFwdPoly != null) { //If we're using Cheezy Drive
-				cachedRot = rotThrottle.getValue() * scaleRotByFwdPoly.get(Math.abs(cachedFwd));
-			} else { //Plain and simple
-				cachedRot = rotThrottle.getValue();
-			}
-		}
-	}
-
+
 	/**
 	 * The output of the throttle controlling linear velocity, smoothed and adjusted according to what type of joystick
 	 * it is.
@@ -128,8 +94,7 @@ private void cacheValues() {
 	 */
 	@Override
 	public double getFwd() {
-		cacheValues();
-		return cachedFwd;
+		return fwdThrottle.getValue();
 	}
 
 	/**
@@ -140,8 +105,17 @@ public double getFwd() {
 	 */
 	@Override
 	public double getRot() {
-		cacheValues();
-		return cachedRot;
+		//If the gamepad is being pushed to the left or right
+		if (gamepad != null && !(gamepad.getPOV() == -1 || gamepad.getPOV() % 180 == 0)) {
+			//Output the shift value
+			return gamepad.getPOV() < 180 ? dPadShift : -dPadShift;
+		} else if (getFwd() == 0) { //Turning in place
+			return rotThrottle.getValue() * turnInPlaceRotScale;
+		} else if (scaleRotByFwdPoly != null) { //If we're using Cheezy Drive
+			return rotThrottle.getValue() * scaleRotByFwdPoly.get(Math.abs(getFwd()));
+		} else { //Plain and simple
+			return rotThrottle.getValue();
+		}
 	}
 
 	/**

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/oi/unidirectional/tank/OITank.java

@@ -9,6 +9,9 @@
 @JsonTypeInfo(use = JsonTypeInfo.Id.CLASS, include = JsonTypeInfo.As.WRAPPER_OBJECT, property = "@class")
 public abstract class OITank implements OIUnidirectional {
 
+	/**
+	 * Cached left and right throttle values.
+	 */
 	private double leftThrottleCached, rightThrottleCached;
 
 	/**

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/other/UnidirectionalPoseEstimator.java

@@ -103,6 +103,22 @@ public class UnidirectionalPoseEstimator <T extends SubsystemAHRS & DriveUnidire
 	 * The percent the Noah method changed the wrong encoder reading by.
 	 */
 	private double percentChanged;
+
+	/**
+	 * Angle and magnitude of vector being calculated. Field to avoid garbage collection.
+	 */
+	private double vectorAngle, vectorMagnitude;
+
+	/**
+	 * Per-run variables for run(). Fields to avoid garbage collection.
+	 */
+	private double left, right, theta, deltaLeft, deltaRight, deltaTheta;
+	private long time;
+
+	/**
+	 * Output vector from run(). Field to avoid garbage collection.
+	 */
+	private double[] vector;
 
 	/**
 	 * Default constructor.
@@ -144,50 +160,38 @@ public UnidirectionalPoseEstimator(@Nullable Double robotDiameter,
 	}
 
 	private static double[] calcEliVector(double left, double right, double deltaTheta, double lastAngle) {
-		//The vector for how much the robot moves, element 0 is x and element 1 is y.
-		double[] vector = new double[2];
 
 		//If we're going in a straight line
 		if (deltaTheta == 0) {
 			//we could use deltaRight here, doesn't matter. Going straight means no change in angle and left and right are the same.
-			vector[0] = left * Math.cos(lastAngle);
-			vector[1] = left * Math.sin(lastAngle);
+			return new double[]{left * Math.cos(lastAngle), left * Math.sin(lastAngle)};
 		} else {
 			//This next part is too complicated to explain in comments. Read this wiki page instead:
 			// http://team449.shoutwiki.com/wiki/Pose_Estimation
-			double r = ((left + right) / 2.) / deltaTheta;
 			double vectorAngle = lastAngle + deltaTheta / 2.;
-			double vectorMagnitude = 2. * r * Math.sin(deltaTheta / 2.);
-			vector[0] = vectorMagnitude * Math.cos(vectorAngle);
-			vector[1] = vectorMagnitude * Math.sin(vectorAngle);
+			double vectorMagnitude = 2. * ((left + right) / 2.) / deltaTheta * Math.sin(deltaTheta / 2.);
+			return new double[]{vectorMagnitude * Math.cos(vectorAngle), vectorMagnitude * Math.sin(vectorAngle)};
 		}
-		return vector;
 	}
 
 	private static double[] calcVector(double left, double right, double robotDiameter, double deltaTheta, double lastAngle) {
-		//The vector for how much the robot moves, element 0 is x and element 1 is y.
-		double[] vector = new double[2];
 
 		//If we're going in a straight line
 		if (deltaTheta == 0) {
 			//we could use deltaRight here, doesn't matter. Going straight means no change in angle and left and right are the same.
-			vector[0] = left * Math.cos(lastAngle);
-			vector[1] = left * Math.sin(lastAngle);
+			return new double[]{left * Math.cos(lastAngle), left * Math.sin(lastAngle)};
 		} else {
 			//This next part is too complicated to explain in comments. Read this wiki page instead:
 			// http://team449.shoutwiki.com/wiki/Pose_Estimation
 			double r;
 			if (left - right == 0) {
-				r = left / deltaTheta;
+				vectorMagnitude = 2* left / deltaTheta * Math.sin(deltaTheta / 2.);
 			} else {
-				r = robotDiameter / 2. * (left + right) / (left - right);
+				vectorMagnitude = 2* robotDiameter / 2. * (left + right) / (left - right) * Math.sin(deltaTheta / 2.);
 			}
-			double vectorAngle = lastAngle + deltaTheta / 2.;
-			double vectorMagnitude = 2. * r * Math.sin(deltaTheta / 2.);
-			vector[0] = vectorMagnitude * Math.cos(vectorAngle);
-			vector[1] = vectorMagnitude * Math.sin(vectorAngle);
+			vectorAngle = lastAngle + deltaTheta / 2.;
+			return new double[]{vectorMagnitude * Math.cos(vectorAngle), vectorMagnitude * Math.sin(vectorAngle)};
 		}
-		return vector;
 	}
 
 	/**
@@ -196,24 +200,22 @@ private static double[] calcVector(double left, double right, double robotDiamet
 	@Override
 	public synchronized void run() {
 		//Record everything at the start, as it may change between executing lines of code and that would be bad.
-		double left = subsystem.getLeftPos();
-		double right = subsystem.getRightPos();
-		double theta = Math.toRadians(subsystem.getAngularDisplacement());
-		long time = Clock.currentTimeMillis();
+		left = subsystem.getLeftPos();
+		right = subsystem.getRightPos();
+		theta = Math.toRadians(subsystem.getAngularDisplacement());
+		time = Clock.currentTimeMillis();
 
 		//Calculate differences versus the last measurement
-		double deltaLeft = left - lastLeftPos;
-		double deltaRight = right - lastRightPos;
-		double deltaTheta = theta - lastTheta;
-		double robotDiameter;
+		deltaLeft = left - lastLeftPos;
+		deltaRight = right - lastRightPos;
+		deltaTheta = theta - lastTheta;
 		if (deltaTheta == 0) {
 			fudgedWheelbaseDiameter = -1;
 		} else {
 			fudgedWheelbaseDiameter = (deltaLeft - deltaRight) / deltaTheta;
 		}
 
-		double[] vector;
-		if (this.robotDiameter != null) {
+		if (robotDiameter != null) {
 			//Noah's Approach:
 
 			//For this next part, we assume that the gyro is 100% accurate at measuring the change in angle over the given
@@ -222,7 +224,6 @@ public synchronized void run() {
 			//Given those constraints, we have an overdetermined system because deltaTheta should be equal to
 			//(deltaLeft-deltaRight)/robotDiameter. We can use this to determine which wheel slipped more, and replace its
 			//reading with a value calculated from the other encoder and the gyro.
-			robotDiameter = this.robotDiameter;
 			if (deltaTheta < (deltaLeft - deltaRight) / robotDiameter) {
 				if (deltaLeft > 0) {
 					percentChanged = ((deltaRight + robotDiameter * deltaTheta) - deltaLeft) / deltaLeft;

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/climber/ClimberCurrentLimited.java

@@ -48,6 +48,9 @@ public class ClimberCurrentLimited extends YamlSubsystem implements Loggable, Su
 	 */
 	private boolean motorSpinning;
 
+	/**
+	 * Whether the condition was met last time caching was done.
+	 */
 	private boolean conditionMetCached;
 
 

RoboRIO/src/main/java/org/usfirst/frc/team449/robot/subsystem/complex/shooter/LoggingShooter.java

@@ -120,7 +120,7 @@ public Object[] getData() {
 	@NotNull
 	@Override
 	public String getName() {
-		return "multiSubsystem";
+		return "loggingShooter";
 	}
 
 	/**