diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java
index 6baf2d57..9b6b5655 100644
--- a/src/main/java/frc/robot/Main.java
+++ b/src/main/java/frc/robot/Main.java
@@ -13,10 +13,16 @@
 
 import edu.wpi.first.wpilibj.RobotBase;
 
-/* Probably don't put code here, most likely put it in RobotContainer. */
+/* Hey! You probably don't want to put code here! Your might looking for RobotContainer. */
+/** The robot's entrypoint. */
 public final class Main {
   private Main() {}
 
+  /**
+   * The entrypoint for the robot.
+   *
+   * @param args The args passed from the RoboRIO
+   */
   public static void main(String... args) {
     RobotBase.startRobot(Robot::new);
   }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 89cc04f0..f214c816 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -15,7 +15,8 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
-/* Don't put code here, most likely put it in RobotContainer. */
+/* Hey! You probably don't want to put code here! Your might looking for RobotContainer. */
+/** The core of robot code. Runs our command based robot structure. */
 public class Robot extends TimedRobot {
   private Command autonomousCommand;
 
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1d27c75f..d034245a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -54,8 +54,8 @@
 import frc.robot.subsystems.mailbox.MailboxBelts;
 import frc.robot.subsystems.mailbox.MailboxPneumatics;
 
-@SuppressWarnings("unused")
 /** Singleton class that contains all the robot's subsystems, commands, and button bindings. */
+@SuppressWarnings("unused")
 public class RobotContainer {
 
   /*
diff --git a/src/main/java/frc/robot/commands/AimWithLimelight.java b/src/main/java/frc/robot/commands/AimWithLimelight.java
index 691e047b..c04d3c8d 100644
--- a/src/main/java/frc/robot/commands/AimWithLimelight.java
+++ b/src/main/java/frc/robot/commands/AimWithLimelight.java
@@ -57,7 +57,7 @@ public class AimWithLimelight extends Command {
   public AimWithLimelight(
       Limelight limelight,
       double steerStrength,
-      double distanceFromTarget,
+      double desiredDistanceFromTarget,
       double mountHeight,
       double mountAngle,
       double driveStrength,
@@ -67,7 +67,7 @@ public AimWithLimelight(
       double targetHeight,
       double pipelineNumber) {
     this.steerStrength = steerStrength;
-    this.desiredDistanceFromTarget = distanceFromTarget;
+    this.desiredDistanceFromTarget = desiredDistanceFromTarget;
     this.mountHeight = mountHeight;
     this.mountAngle = mountAngle;
     this.driveStrength = driveStrength;
diff --git a/src/main/java/frc/robot/commands/StartCamera.java b/src/main/java/frc/robot/commands/StartCamera.java
index f4240bc0..04a3bf5f 100644
--- a/src/main/java/frc/robot/commands/StartCamera.java
+++ b/src/main/java/frc/robot/commands/StartCamera.java
@@ -18,7 +18,11 @@
 public class StartCamera extends Command {
   private Camera camera;
 
-  /** Creates a new StartCamera. */
+  /**
+   * Creates a new StartCamera.
+   *
+   * @param camera The camera to start.
+   */
   public StartCamera(Camera camera) {
     this.camera = camera;
     addRequirements(camera);
diff --git a/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOriented.java b/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOriented.java
index d8dc305f..c15e25cb 100644
--- a/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOriented.java
+++ b/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOriented.java
@@ -21,6 +21,7 @@ public class SetDrivePerspectiveFieldOriented extends Command {
   /** Creates a new SetDrivePerspectiveFieldOriented. */
   private Drive drive;
 
+  /** Creates a new SetDrivePerspectiveFieldOriented */
   public SetDrivePerspectiveFieldOriented() {
     this.drive = RobotContainer.drive;
     addRequirements(drive);
diff --git a/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOrientedHeadingSnapping.java b/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOrientedHeadingSnapping.java
index 1bb55177..61faf250 100644
--- a/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOrientedHeadingSnapping.java
+++ b/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveFieldOrientedHeadingSnapping.java
@@ -18,9 +18,9 @@
 
 /** Sets the current drive perspective to field oriented with heading snapping. */
 public class SetDrivePerspectiveFieldOrientedHeadingSnapping extends Command {
-  /** Creates a new SetDrivePerspectiveFieldOriented. */
   private Drive drive;
 
+  /** Creates a new SetDrivePerspectiveFieldOrientedHeadingSnapping. */
   public SetDrivePerspectiveFieldOrientedHeadingSnapping() {
     this.drive = RobotContainer.drive;
     addRequirements(drive);
diff --git a/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveRobotOriented.java b/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveRobotOriented.java
index 5397fd26..8c9da91e 100644
--- a/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveRobotOriented.java
+++ b/src/main/java/frc/robot/commands/drive/SetDrivePerspectiveRobotOriented.java
@@ -18,9 +18,9 @@
 
 /** Sets the current drive perspective to robot oriented. */
 public class SetDrivePerspectiveRobotOriented extends Command {
-  /** Creates a new SetDrivePerspectiveFieldOriented. */
   private Drive drive;
 
+  /** Creates a new SetDrivePerspectiveRobotOriented */
   public SetDrivePerspectiveRobotOriented() {
     this.drive = RobotContainer.drive;
     addRequirements(drive);
diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index f5810117..fea140cd 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -182,6 +182,11 @@ public void setDriveMode(String driveMode) {
     driveLabelEntry.setString(driveMode);
   }
 
+  /**
+   * Returns the heading of the robot.
+   *
+   * @return The heading of the robot.
+   */
   public Rotation2d getHeading() {
     return drive.getPose().getRotation();
   }