diff --git a/build.gradle b/build.gradle
index fbba93794e4..fc1f33df98d 100644
--- a/build.gradle
+++ b/build.gradle
@@ -7,7 +7,7 @@ buildscript {
         }
     }
     dependencies {
-        classpath 'com.hubspot.jinjava:jinjava:2.6.0'
+        classpath 'com.hubspot.jinjava:jinjava:2.7.1'
     }
 }
 
@@ -22,8 +22,8 @@ plugins {
     id 'visual-studio'
     id 'net.ltgt.errorprone' version '3.1.0' apply false
     id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
-    id 'com.diffplug.spotless' version '6.18.0' apply false
-    id 'com.github.spotbugs' version '5.0.14' apply false
+    id 'com.diffplug.spotless' version '6.20.0' apply false
+    id 'com.github.spotbugs' version '5.1.3' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
diff --git a/cameraserver/multiCameraServer/build.gradle b/cameraserver/multiCameraServer/build.gradle
index acd898d5428..a7cfa423f3e 100644
--- a/cameraserver/multiCameraServer/build.gradle
+++ b/cameraserver/multiCameraServer/build.gradle
@@ -29,7 +29,7 @@ repositories {
 }
 
 dependencies {
-    implementation 'com.google.code.gson:gson:2.8.9'
+    implementation 'com.google.code.gson:gson:2.10.1'
 
     implementation project(':wpiutil')
     implementation project(':wpinet')
diff --git a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerCvJNI.java b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerCvJNI.java
index 3527daef1c9..66195221f89 100644
--- a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerCvJNI.java
+++ b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerCvJNI.java
@@ -65,6 +65,7 @@ public static native int createCvSource(
   public static native void putSourceFrame(int source, long imageNativeObj);
 
   public static native int createCvSink(String name);
+
   // public static native int createCvSinkCallback(String name,
   //                            void (*processFrame)(long time));
 
diff --git a/fieldImages/build.gradle b/fieldImages/build.gradle
index 2f18d7279d8..c66d35fbb81 100644
--- a/fieldImages/build.gradle
+++ b/fieldImages/build.gradle
@@ -14,9 +14,9 @@ if (!project.hasProperty('onlylinuxathena')) {
     }
 
     dependencies {
-        implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
-        implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
-        implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
+        implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
+        implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
+        implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
     }
 
     ext {
diff --git a/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java b/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
index 441ce9f4725..f416ff8192d 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
@@ -9,6 +9,7 @@
 public class AccumulatorResult {
   /** The total value accumulated. */
   public long value;
+
   /** The number of sample value was accumulated over. */
   public long count;
 
diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
index 551f3be8f58..bf8b27f4927 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package edu.wpi.first.hal;
+
 /**
  * Analog Input / Output / Accumulator / Trigger JNI Functions.
  *
@@ -19,10 +20,13 @@ public class AnalogJNI extends JNIWrapper {
   public interface AnalogTriggerType {
     /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:54</i> */
     int kInWindow = 0;
+
     /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:55</i> */
     int kState = 1;
+
     /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:56</i> */
     int kRisingPulse = 2;
+
     /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:57</i> */
     int kFallingPulse = 3;
   }
@@ -52,6 +56,7 @@ public interface AnalogTriggerType {
    * @see "HAL_InitializeAnalogOutputPort"
    */
   public static native int initializeAnalogOutputPort(int halPortHandle);
+
   /**
    * Frees an analog output port.
    *
@@ -206,6 +211,7 @@ public interface AnalogTriggerType {
    * @see "HAL_GetAnalogVoltsToValue"
    */
   public static native int getAnalogVoltsToValue(int analogPortHandle, double voltage);
+
   /**
    * Get the analog voltage from a raw value.
    *
@@ -418,6 +424,7 @@ public static native void setAnalogTriggerLimitsDutyCycle(
    */
   public static native void setAnalogTriggerLimitsVoltage(
       int analogTriggerHandle, double lower, double upper);
+
   /**
    * Configures the analog trigger to use the averaged vs. raw values.
    *
@@ -433,6 +440,7 @@ public static native void setAnalogTriggerLimitsVoltage(
    */
   public static native void setAnalogTriggerAveraged(
       int analogTriggerHandle, boolean useAveragedValue);
+
   /**
    * Configures the analog trigger to use a filtered value.
    *
diff --git a/hal/src/main/java/edu/wpi/first/hal/CANData.java b/hal/src/main/java/edu/wpi/first/hal/CANData.java
index 91362226265..0e2956888cb 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CANData.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CANData.java
@@ -8,8 +8,10 @@
 public class CANData {
   /** Contents of the CAN frame. */
   public final byte[] data = new byte[8];
+
   /** Length of the frame in bytes. */
   public int length;
+
   /** CAN frame timestamp in milliseconds. */
   public long timestamp;
 
diff --git a/ntcore/src/generate/java/NetworkTableInstance.java.jinja b/ntcore/src/generate/java/NetworkTableInstance.java.jinja
index ff1b40734c6..7dabd1070ce 100644
--- a/ntcore/src/generate/java/NetworkTableInstance.java.jinja
+++ b/ntcore/src/generate/java/NetworkTableInstance.java.jinja
@@ -553,7 +553,7 @@ public final class NetworkTableInstance implements AutoCloseable {
     }
   }
 
-  private ListenerStorage m_listeners = new ListenerStorage(this);
+  private final ListenerStorage m_listeners = new ListenerStorage(this);
 
   /**
    * Remove a connection listener.
diff --git a/shared/java/javacommon.gradle b/shared/java/javacommon.gradle
index 9a0a2d5df17..57a864f4714 100644
--- a/shared/java/javacommon.gradle
+++ b/shared/java/javacommon.gradle
@@ -116,9 +116,9 @@ tasks.withType(JavaCompile).configureEach {
 }
 
 dependencies {
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
-    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.10.0'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.10.0'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.10.0'
 
     devImplementation sourceSets.main.output
 }
@@ -132,7 +132,7 @@ task run(type: JavaExec) {
 build.dependsOn devClasses
 
 jacoco {
-    toolVersion = "0.8.8"
+    toolVersion = "0.8.10"
 }
 
 jacocoTestReport {
diff --git a/shared/java/javastyle.gradle b/shared/java/javastyle.gradle
index 7f5d9257d07..0cc7d3b0958 100644
--- a/shared/java/javastyle.gradle
+++ b/shared/java/javastyle.gradle
@@ -2,7 +2,7 @@ if (!project.hasProperty('skipJavaFormat')) {
     apply plugin: 'checkstyle'
 
     checkstyle {
-        toolVersion = "10.1"
+        toolVersion = "10.12.2"
         configDirectory = file("${project.rootDir}/styleguide")
         config = resources.text.fromFile(new File(configDirectory.get().getAsFile(), "checkstyle.xml"))
     }
@@ -10,7 +10,7 @@ if (!project.hasProperty('skipJavaFormat')) {
     apply plugin: 'pmd'
 
     pmd {
-        toolVersion = '6.44.0'
+        toolVersion = '6.55.0'
         consoleOutput = true
         reportsDir = file("$project.buildDir/reports/pmd")
         ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
diff --git a/styleguide/pmd-ruleset.xml b/styleguide/pmd-ruleset.xml
index 54a4881cd28..3f0683a55aa 100644
--- a/styleguide/pmd-ruleset.xml
+++ b/styleguide/pmd-ruleset.xml
@@ -64,7 +64,6 @@
     <exclude name="AvoidCatchingThrowable" />
     <exclude name="AvoidDuplicateLiterals" />
     <exclude name="AvoidLiteralsInIfCondition" />
-    <exclude name="BeanMembersShouldSerialize" />
     <exclude name="CloseResource" />
     <exclude name="ConstructorCallsOverridableMethod" />
     <exclude name="DataflowAnomalyAnalysis" />
@@ -74,6 +73,7 @@
     <exclude name="FinalizeDoesNotCallSuperFinalize" />
     <exclude name="JUnitSpelling" />
     <exclude name="MissingSerialVersionUID" />
+    <exclude name="NonSerializableClass" />
     <exclude name="NullAssignment" />
   </rule>
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
index 24762721ab9..2cbb5c769c9 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
@@ -44,8 +44,10 @@ public enum IndexingType {
 
   /** The 'a' source. */
   protected DigitalSource m_aSource; // the A phase of the quad encoder
+
   /** The 'b' source. */
   protected DigitalSource m_bSource; // the B phase of the quad encoder
+
   /** The index source. */
   protected DigitalSource m_indexSource; // Index on some encoders
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
index a80fd453ffb..087c1566026 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
@@ -35,6 +35,7 @@
 public final class Preferences {
   /** The Preferences table name. */
   private static final String TABLE_NAME = "Preferences";
+
   /** The network table. */
   private static NetworkTable m_table;
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java
index a8100065636..0786f34d05a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/event/BooleanEvent.java
@@ -24,6 +24,7 @@
 public class BooleanEvent implements BooleanSupplier {
   /** Poller loop. */
   protected final EventLoop m_loop;
+
   /** Condition. */
   private final BooleanSupplier m_signal;
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
index 33d218f0da0..bfca78100e2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
@@ -36,14 +36,19 @@
 public class SendableChooser<V> implements NTSendable, AutoCloseable {
   /** The key for the default value. */
   private static final String DEFAULT = "default";
+
   /** The key for the selected option. */
   private static final String SELECTED = "selected";
+
   /** The key for the active option. */
   private static final String ACTIVE = "active";
+
   /** The key for the option array. */
   private static final String OPTIONS = "options";
+
   /** The key for the instance number. */
   private static final String INSTANCE = ".instance";
+
   /** A map linking strings to the objects they represent. */
   private final Map<String, V> m_map = new LinkedHashMap<>();
 
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/RobotControllerTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/RobotControllerTest.java
index 3c5647c4a84..cdc27c70e3b 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/RobotControllerTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/RobotControllerTest.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
+@SuppressWarnings("PMD.TestClassWithoutTestCases")
 class RobotControllerTest extends UtilityClassTest<RobotController> {
   RobotControllerTest() {
     super(RobotController.class);
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java
index 6d4a6669663..869fb8c3765 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.wpilibj.UtilityClassTest;
 
+@SuppressWarnings("PMD.TestClassWithoutTestCases")
 class LiveWindowTest extends UtilityClassTest<LiveWindow> {
   LiveWindowTest() {
     super(LiveWindow.class);
diff --git a/wpilibjExamples/build.gradle b/wpilibjExamples/build.gradle
index 5ca6fff6bf6..570760f4cc7 100644
--- a/wpilibjExamples/build.gradle
+++ b/wpilibjExamples/build.gradle
@@ -37,13 +37,13 @@ dependencies {
     implementation project(':cameraserver')
     implementation project(':wpilibNewCommands')
 
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
-    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.10.0'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.10.0'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.10.0'
 }
 
 jacoco {
-    toolVersion = "0.8.8"
+    toolVersion = "0.8.10"
 }
 
 jacocoTestReport {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest/Robot.java
index 9f66c27e944..1333a1c4fc4 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/unittest/Robot.java
@@ -16,8 +16,8 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  private Intake m_intake = new Intake();
-  private Joystick m_joystick = new Joystick(Constants.kJoystickIndex);
+  private final Intake m_intake = new Intake();
+  private final Joystick m_joystick = new Joystick(Constants.kJoystickIndex);
 
   /** This function is called periodically during operator control. */
   @Override
diff --git a/wpimath/build.gradle b/wpimath/build.gradle
index f1e8b0258fb..0fd755f7241 100644
--- a/wpimath/build.gradle
+++ b/wpimath/build.gradle
@@ -38,9 +38,9 @@ model {
 
 dependencies {
     api "org.ejml:ejml-simple:0.42"
-    api "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
-    api "com.fasterxml.jackson.core:jackson-core:2.12.4"
-    api "com.fasterxml.jackson.core:jackson-databind:2.12.4"
+    api "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
+    api "com.fasterxml.jackson.core:jackson-core:2.15.2"
+    api "com.fasterxml.jackson.core:jackson-databind:2.15.2"
 }
 
 def wpilibNumberFileInput = file("src/generate/GenericNumber.java.jinja")
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
index 171902f2482..1ad2f2aff04 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
@@ -24,10 +24,12 @@
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class Rotation3d implements Interpolatable<Rotation3d> {
-  private Quaternion m_q = new Quaternion();
+  private final Quaternion m_q;
 
   /** Constructs a Rotation3d with a default angle of 0 degrees. */
-  public Rotation3d() {}
+  public Rotation3d() {
+    m_q = new Quaternion();
+  }
 
   /**
    * Constructs a Rotation3d from a quaternion.
@@ -93,6 +95,7 @@ public Rotation3d(Vector<N3> rvec) {
   public Rotation3d(Vector<N3> axis, double angleRadians) {
     double norm = axis.norm();
     if (norm == 0.0) {
+      m_q = new Quaternion();
       return;
     }
 
@@ -186,6 +189,7 @@ public Rotation3d(Vector<N3> initial, Vector<N3> last) {
     if (dotNorm > 1.0 - 1E-9) {
       // If the dot product is 1, the two vectors point in the same direction so
       // there's no rotation. The default initialization of m_q will work.
+      m_q = new Quaternion();
       return;
     } else if (dotNorm < -1.0 + 1E-9) {
       // If the dot product is -1, the two vectors point in opposite directions
diff --git a/wpiutil/CMakeLists.txt b/wpiutil/CMakeLists.txt
index 8422b612316..8deec27abc0 100644
--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -14,18 +14,18 @@ if (WITH_JAVA)
   include(UseJava)
   set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
-  if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/jackson-core-2.12.4.jar")
+  if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/jackson-core-2.15.2.jar")
         set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
         set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson")
 
         message(STATUS "Downloading Jackson jarfiles...")
 
-        file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-core/2.12.4/jackson-core-2.12.4.jar"
-            "${JAR_ROOT}/jackson-core-2.12.4.jar")
-        file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-databind/2.12.4/jackson-databind-2.12.4.jar"
-            "${JAR_ROOT}/jackson-databind-2.12.4.jar")
-        file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-annotations/2.12.4/jackson-annotations-2.12.4.jar"
-            "${JAR_ROOT}/jackson-annotations-2.12.4.jar")
+        file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-core/2.15.2/jackson-core-2.15.2.jar"
+            "${JAR_ROOT}/jackson-core-2.15.2.jar")
+        file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-databind/2.15.2/jackson-databind-2.15.2.jar"
+            "${JAR_ROOT}/jackson-databind-2.15.2.jar")
+        file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-annotations/2.15.2/jackson-annotations-2.15.2.jar"
+            "${JAR_ROOT}/jackson-annotations-2.15.2.jar")
 
         message(STATUS "All files downloaded.")
     endif()
diff --git a/wpiutil/build.gradle b/wpiutil/build.gradle
index 964dcf57e97..4e8e3e87d68 100644
--- a/wpiutil/build.gradle
+++ b/wpiutil/build.gradle
@@ -276,9 +276,9 @@ task runPrintLog(type: JavaExec) {
 }
 
 dependencies {
-    api "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
-    api "com.fasterxml.jackson.core:jackson-core:2.12.4"
-    api "com.fasterxml.jackson.core:jackson-databind:2.12.4"
+    api "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
+    api "com.fasterxml.jackson.core:jackson-core:2.15.2"
+    api "com.fasterxml.jackson.core:jackson-databind:2.15.2"
 
     printlogImplementation sourceSets.main.output
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/EventVector.java b/wpiutil/src/main/java/edu/wpi/first/util/EventVector.java
index a85379e7927..4d2c80030a1 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/EventVector.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/EventVector.java
@@ -9,8 +9,8 @@
 import java.util.concurrent.locks.ReentrantLock;
 
 public class EventVector {
-  private ReentrantLock m_lock = new ReentrantLock();
-  private List<Integer> m_events = new ArrayList<>();
+  private final ReentrantLock m_lock = new ReentrantLock();
+  private final List<Integer> m_events = new ArrayList<>();
 
   /**
    * Adds an event to the event vector.
diff --git a/wpiutil/src/test/java/edu/wpi/first/util/cleanup/ReflectionCleanupTest.java b/wpiutil/src/test/java/edu/wpi/first/util/cleanup/ReflectionCleanupTest.java
index 52fafb44146..7bf3d646832 100644
--- a/wpiutil/src/test/java/edu/wpi/first/util/cleanup/ReflectionCleanupTest.java
+++ b/wpiutil/src/test/java/edu/wpi/first/util/cleanup/ReflectionCleanupTest.java
@@ -19,6 +19,7 @@ public void close() {
     }
   }
 
+  @SuppressWarnings("PMD.TestClassWithoutTestCases")
   static class CleanupTest implements ReflectionCleanup {
     public CleanupClass m_class1 = new CleanupClass();
     public CleanupClass m_class2 = new CleanupClass();