Javadoc everything

src/main/java/frc/robot/Constants.java

@@ -22,7 +22,11 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+
+  /** Constants that are relating to the controllers. */
   public static class Controllers {
+
+    /** Driver station port number for the drive controller. */
     public static final int DRIVER_CONTROLLER_PORT = 0;
   }
 

src/main/java/frc/robot/Main.java

@@ -13,6 +13,7 @@
 
 import edu.wpi.first.wpilibj.RobotBase;
 
+/* Probably don't put code here, most likely put it in RobotContainer. */
 public final class Main {
   private Main() {}
 

src/main/java/frc/robot/Robot.java

@@ -15,6 +15,7 @@
 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. */
 public class Robot extends TimedRobot {
   private Command autonomousCommand;
 

src/main/java/frc/robot/RobotContainer.java

@@ -20,6 +20,7 @@
 import frc.robot.commands.EnterXMode;
 import frc.robot.subsystems.Drive;
 
+/** Singleton class that contains all the robot's subsystems, commands, and button bindings. */
 public class RobotContainer {
 
   /*
@@ -32,6 +33,7 @@ public class RobotContainer {
    * injecting a dependency through six or seven commands in a chain of command groups would be
    * awful.
    */
+  /** Singleton instance of {@link Drive} */
   public static Drive drive = new Drive();
 
   /*
@@ -54,9 +56,11 @@ public class RobotContainer {
   /* The CommandXboxController instance must be static to allow the getter methods for its axes
    * to work.
    */
+  /** Xbox controller for the driver. */
   public static CommandXboxController driverController =
       new CommandXboxController(Constants.Controllers.DRIVER_CONTROLLER_PORT);
 
+  /** Constructor for {@link RobotContainer} */
   public RobotContainer() {
     configureBindings();
 
@@ -69,43 +73,88 @@ private void configureBindings() {
     driverController.x().onTrue(enterXMode);
   }
 
+  /**
+   * Gets the current autonomous command.
+   *
+   * @return The current autonomous command.
+   */
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }
 
-  public static double scaleAxis(double axis) {
+  private static double scaleAxis(double axis) {
     double deadbanded = MathUtil.applyDeadband(axis, 0.1);
     return Math.pow(deadbanded, 3);
   }
 
+  /**
+   * Gets x-axis of left stick of driver controller.
+   *
+   * @return x-axis of left stick of driver controller.
+   */
   public static double getControllerLeftXAxis() {
     return driverController.getLeftX();
   }
 
+  /**
+   * Gets scaled x-axis of left stick of driver controller.
+   *
+   * @return scaled x-axis of left stick of driver controller.
+   */
   public static double getScaledControllerLeftXAxis() {
     return scaleAxis(getControllerLeftXAxis());
   }
 
+  /**
+   * Gets y-axis of left stick of driver controller.
+   *
+   * @return y-axis of left stick of driver controller.
+   */
   public static double getControllerLeftYAxis() {
     return driverController.getLeftY();
   }
 
+  /**
+   * Gets scaled y-axis of left stick of driver controller.
+   *
+   * @return scaled y-axis of left stick of driver controller.
+   */
   public static double getScaledControllerLeftYAxis() {
     return scaleAxis(getControllerLeftYAxis());
   }
 
+  /**
+   * Gets x-axis of right stick of driver controller.
+   *
+   * @return x-axis of right stick of driver controller.
+   */
   public static double getControllerRightXAxis() {
     return driverController.getRightX();
   }
 
+  /**
+   * Gets scaled x-axis of right stick of driver controller.
+   *
+   * @return scaled x-axis of right stick of driver controller.
+   */
   public static double getScaledControllerRightXAxis() {
     return scaleAxis(getControllerRightXAxis());
   }
 
+  /**
+   * Gets y-axis of right stick of driver controller.
+   *
+   * @return y-axis of right stick of driver controller.
+   */
   public static double getControllerRightYAxis() {
     return driverController.getRightY();
   }
 
+  /**
+   * Gets scaled y-axis of right stick of driver controller.
+   *
+   * @return scaled y-axis of right stick of driver controller.
+   */
   public static double getScaledControllerRightYAxis() {
     return scaleAxis(getControllerRightYAxis());
   }

src/main/java/frc/robot/commands/DriveFieldOriented.java

@@ -15,6 +15,7 @@
 import frc.robot.RobotContainer;
 import frc.robot.subsystems.Drive;
 
+/** Drives the robot in field-oriented mode. */
 public class DriveFieldOriented extends Command {
   private final Drive drive;
 

src/main/java/frc/robot/commands/DriveRobotOriented.java

@@ -15,6 +15,7 @@
 import frc.robot.RobotContainer;
 import frc.robot.subsystems.Drive;
 
+/** Drives the robot in robot-oriented mode. Default command for {@link Drive} subsystem. */
 public class DriveRobotOriented extends Command {
   private final Drive drive;
 

src/main/java/frc/robot/commands/EnterXMode.java

@@ -15,6 +15,7 @@
 import frc.robot.RobotContainer;
 import frc.robot.subsystems.Drive;
 
+/** Points the wheels toward the inside and stops the wheels from moving in any direction. */
 public class EnterXMode extends Command {
 
   private Drive drive;

src/main/java/frc/robot/subsystems/Drive.java

@@ -22,6 +22,7 @@
 import swervelib.SwerveDrive;
 import swervelib.parser.SwerveParser;
 
+/** The subsystem that represents the drivetrain. */
 public class Drive extends SubsystemBase {
   private SwerveDrive drive;
 
@@ -41,6 +42,14 @@ public Drive() {
     drive.setMotorIdleMode(true);
   }
 
+  /**
+   * Drives the robot in robot-oriented mode.
+   *
+   * @param x Robot velocity left to right in m/s. Left is positive.
+   * @param y Robot velocity forward and backward in m/s. Forward is positive.
+   * @param z Robot angular velocity around the z-axis in radians per second. Counter-clockwise is
+   *     positive.
+   */
   public void driveRobotOriented(double x, double y, double z) {
     x = x * getMaximumSpeed();
     y = y * getMaximumSpeed();
@@ -50,6 +59,15 @@ public void driveRobotOriented(double x, double y, double z) {
     drive.drive(translation, z, false, false);
   }
 
+  /**
+   * Drives the robot in field-oriented mode.
+   *
+   * @param x Robot velocity left to right in m/s. Left is positive. Relative to the field.
+   * @param y Robot velocity forward and backward in m/s. Toward the opposing alliance wall is
+   *     positive.
+   * @param z Robot angular velocity around the z-axis in radians per second. Counter-clockwise is
+   *     positive.
+   */
   public void driveFieldOriented(double x, double y, double z) {
     x = x * getMaximumSpeed();
     y = y * getMaximumSpeed();
@@ -59,11 +77,13 @@ public void driveFieldOriented(double x, double y, double z) {
     drive.drive(translation, z, true, false);
   }
 
+  /** Stops all motors in the subsystem. */
   public void stop() {
     drive.drive(
         Constants.Drive.EMPTY_TRANSLATION, 0, false, false, Constants.Drive.EMPTY_TRANSLATION);
   }
 
+  /** Points the wheels toward the inside and stops the wheels from moving in any direction. */
   public void enterXMode() {
     drive.lockPose();
   }
@@ -76,6 +96,7 @@ private double getMaximumAngularSpeed() {
     return Constants.Drive.MAX_ANGULAR_SPEED;
   }
 
+  /** Runs every scheduler run. */
   @Override
   public void periodic() {
     // This method will be called once per scheduler run