Add PMD Gradle plugin for static analysis

build.gradle

@@ -3,6 +3,7 @@ import org.gradle.api.tasks.testing.logging.TestExceptionFormat
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2026.2.1"
+    id 'pmd' // PMD for static analysis
 }
 
 java {
@@ -94,6 +95,15 @@ test {
     }
 }
 
+// Static analysis
+
+pmd {
+    toolVersion = "7.20.0"
+    consoleOutput = true
+    ruleSetFiles = files("femaidens2265-pmd-ruleset.xml")
+    ruleSets = [] // Explicitly set so we don't use the default ruleset
+}
+
 // Simulation configuration (e.g. environment variables).
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()

femaidens2265-pmd-ruleset.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<ruleset name="femaidens2265-pmd-ruleset"
+  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 https://pmd.sourceforge.io/ruleset_2_0_0.xsd">
+
+  <description>
+    The PMD config for FRC team 2265, the Iron Maidens.
+    Please ask Jacob the programming mentor or the programming heads before
+    removing rules.
+    If we are suppressing many violations of the same rule, we should
+    probably remove it.
+  </description>
+
+  <rule ref="category/java/design.xml/MutableStaticState" />
+
+  <rule ref="category/java/errorprone.xml/AssignmentToNonFinalStatic" />
+
+</ruleset>

src/main/java/frc/robot/Ports.java

@@ -25,20 +25,20 @@ public class DrivetrainPorts {
     public class ElevatorPorts {
         public static final int LEADER_ELEVATOR_MOTOR = 15;
         public static final int FOLLOWER_ELEVATOR_MOTOR = 3;
-        public static int MOTOR_PORT = 15;
-        public static int BOT_SWITCH = 7;
+        public static final int MOTOR_PORT = 15;
+        public static final int BOT_SWITCH = 7;
     }
     public class IntakePorts {
         //public static int INTAKE_MOTOR = 3;
-        public static int BEAM_BREAK = 9;
-        public static int PIVOT_MOTOR = 29;
+        public static final int BEAM_BREAK = 9;
+        public static final int PIVOT_MOTOR = 29;
       }
       public class OuttakePorts {
-        public static int OUTTAKE_MOTOR = 12 ; 
-        public static int FRONT_RECEIVER = 0; // front reciever is the one farthest away from intake
-        public static int MIDDLE_RECEIVER = 1;
+        public static final int OUTTAKE_MOTOR = 12 ; 
+        public static final int FRONT_RECEIVER = 0; // front reciever is the one farthest away from intake
+        public static final int MIDDLE_RECEIVER = 1;
       }
       public class LEDPorts{
-        public static int LED_PORT = 5; 
+        public static final int LED_PORT = 5; 
       }
-}
+}