diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
index 0605f6e9..d2f288d7 100644
--- a/src/main/java/swervelib/SwerveDrive.java
+++ b/src/main/java/swervelib/SwerveDrive.java
@@ -870,7 +870,7 @@ public void setMotorIdleMode(boolean brake)
 
   /**
    * Set the maximum speed of the drive motors, modified {@link SwerveDrive#maxSpeedMPS} which is used for the
-   * {@link SwerveDrive#setRawModuleStates(SwerveModuleState[], boolean)} function and
+   * {@link SwerveDrive#setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)} function and
    * {@link SwerveController#getTargetSpeeds(double, double, double, double, double)} functions. This function overrides
    * what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates.
    *
@@ -898,7 +898,7 @@ public void setMaximumSpeed(double maximumSpeed, boolean updateModuleFeedforward
 
   /**
    * Set the maximum speed of the drive motors, modified {@link SwerveDrive#maxSpeedMPS} which is used for the
-   * {@link SwerveDrive#setRawModuleStates(SwerveModuleState[], boolean)} function and
+   * {@link SwerveDrive#setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)} function and
    * {@link SwerveController#getTargetSpeeds(double, double, double, double, double)} functions. This function overrides
    * what was placed in the JSON and could damage your motor/robot if set too high or unachievable rates. Overwrites the
    * {@link SwerveModule#setFeedforward(SimpleMotorFeedforward)}.
diff --git a/src/main/java/swervelib/imu/IMUVelocity.java b/src/main/java/swervelib/imu/IMUVelocity.java
index 998f7375..fba47a34 100644
--- a/src/main/java/swervelib/imu/IMUVelocity.java
+++ b/src/main/java/swervelib/imu/IMUVelocity.java
@@ -5,6 +5,9 @@
 import edu.wpi.first.wpilibj.Notifier;
 import swervelib.math.IMULinearMovingAverageFilter;
 
+/**
+ * Generic IMU Velocity filter.
+ */
 public class IMUVelocity {
   /**
    * Swerve IMU.
@@ -63,6 +66,7 @@ public IMUVelocity(SwerveIMU gyro, double periodSeconds, int averagingTaps)
    * Other gyroscopes will default to 50hz and 5 taps. For custom rates please use the IMUVelocity constructor.
    *
    * @param gyro The SwerveIMU gyro.
+   * @return {@link IMUVelocity} for the given gyro with adjusted period readings for velocity.
    */
   public static IMUVelocity createIMUVelocity(SwerveIMU gyro)
   {
diff --git a/src/main/java/swervelib/math/IMULinearMovingAverageFilter.java b/src/main/java/swervelib/math/IMULinearMovingAverageFilter.java
index 552ae620..c7bb4d0c 100644
--- a/src/main/java/swervelib/math/IMULinearMovingAverageFilter.java
+++ b/src/main/java/swervelib/math/IMULinearMovingAverageFilter.java
@@ -22,7 +22,7 @@ public IMULinearMovingAverageFilter(int bufferLength)
 
  /**
   * Add a value to the DoubleCircularBuffer
-  * @param input
+  * @param input Value to add
   */
   public void addValue(double input)
   {