Javadocs

- Added javadocs to functions in  CameraSubsystem, Aimcommand, and DriveSubsystem
- Fixed javadocs for other subsystems

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

@@ -46,6 +46,11 @@ public AimCommand(DriveSubsystem d_subsystem, CameraSubsystem c_subsystem) {
   @Override
   public void initialize() {}
 
+  /**
+   * Takes pipeline result from camera, follows path based on those results.
+   *
+   * @param result Camera pipeline result
+   */
   private void processResult(PhotonPipelineResult result) {
     SmartDashboard.putBoolean("CameraTargetDetected", true);
     // find target we want, we can change later

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

@@ -164,8 +164,10 @@ public Command sysIdDynamic(SysIdRoutine.Direction direction) {
     return m_sysIdRoutine.dynamic(direction);
   }
 
-  /*
+  /**
    * Move Arm to a specific angle
+   *
+   * @param radians Angle in radians to move the arm to
    */
   public void SetAngle(double radians) {
     m_ArmMainPIDController.setReference(
@@ -175,9 +177,7 @@ public void SetAngle(double radians) {
         m_ArmFeedforward.calculate(radians, m_ArmEncoder.getVelocity()));
   }
 
-  /*
-   * Lower the Arm
-   */
+  /** Lower the Arm */
   public void LowerArm() {
     SetAngle(kStartingAngleRads);
   }

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

@@ -111,6 +111,12 @@ public CameraSubsystem(DriveSubsystem d_subsystem) {
     visionSim.addCamera(targetingCamera1Sim, Constants.TargetingCamera1.location);
   }
 
+  /**
+   * Gets the last procesesd frame captured by camera
+   *
+   * @param camera Desired camera to get result from
+   * @return Targets in the frame.
+   */
   private Optional<PhotonPipelineResult> getPipelineResults(PhotonCamera camera) {
     var results = camera.getAllUnreadResults();
     if (!results.isEmpty()) {
@@ -126,6 +132,12 @@ private Optional<PhotonPipelineResult> getPipelineResults(PhotonCamera camera) {
     return Optional.empty();
   }
 
+  /**
+   * Update estaimated robot pose based on given pipeline result.
+   *
+   * @param result Camera pipeline result
+   * @param poseEstimator Pose estimator
+   */
   private void updateGlobalPose(
       Optional<PhotonPipelineResult> result, PhotonPoseEstimator poseEstimator) {
     if (result.isPresent()) {

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

@@ -342,13 +342,14 @@ public void tankDrive(double leftSpeed, double rightSpeed) {
     m_ddrive.tankDrive(leftSpeed, rightSpeed);
   }
 
+  /**
+   * When this function is activated, the robot is in "drive straight" mode. Whatever direction the
+   * robot was heading when "drive straight" mode was entered will be maintained. We use the current
+   * pose of the robot to determine the direction. The robot will continue to move in this direction
+   * until the function is canceled.
+   */
   public Command driveStraight() {
-    /*
-     * WWhen this function is activated, the robot is in "drive straight" mode.
-     * Whatever direction the robot was heading when "drive straight" mode was
-     * entered will be maintained. We use the current pose of the robot to determine the direction.
-     * The robot will continue to move in this direction until the function is canceled.
-     */
+
     // get current pose
     Pose2d currentPose = getPose();
     // get current angle
@@ -370,47 +371,67 @@ public Command driveStraight() {
     return GenerateOnTheFlyCommand(wantedPoses);
   }
 
+  /**
+   * Builds a command to follow a path based on a given list of desired poses
+   *
+   * @param desiredPoses A list of poses for the robot to move to
+   * @return The command to follow created path
+   */
   public Command GenerateOnTheFlyCommand(List<Pose2d> desiredPoses) {
+    // Creates the path to follow
     PathPlannerPath path = generateOnTheFlyPath(desiredPoses);
+    // Returns built command following the path
     return AutoBuilder.followPath(path);
   }
 
+  /**
+   * Creates a path based on a given list of desired poses
+   *
+   * @param desiredPoses A list of poses for the robot to move to. Requires atleast 2 poses.
+   * @return The path with the poses to go to.
+   */
   private PathPlannerPath generateOnTheFlyPath(List<Pose2d> desiredPoses) {
+    // Turn poses into waypoints
     List<Waypoint> waypoints = PathPlannerPath.waypointsFromPoses(desiredPoses);
+    // Create path with waypoints
     PathPlannerPath path =
         new PathPlannerPath(
             waypoints,
             DriveConstants.OnTheFly.kPathConstraints,
             new IdealStartingState(0, desiredPoses.get(0).getRotation()),
             new GoalEndState(0, desiredPoses.get(desiredPoses.size() - 1).getRotation()));
+    // Disables the path being mirrored based on which alliance we are on
     path.preventFlipping = true;
     return path;
   }
 
-  /*
-   * This function can return our robots DiffernentialDriveWheelSpeeds, which is the speed of each side of the robot.
+  /**
+   * This function can return our robots DiffernentialDriveWheelSpeeds, which is the speed of each
+   * side of the robot.
    */
   public DifferentialDriveWheelSpeeds getWheelSpeeds() {
     return new DifferentialDriveWheelSpeeds(getVelocityLeft(), getVelocityRight());
   }
 
-  /*
-   * This function can return our robots ChassisSpeeds, which is vx (m/s), vy (m/s), and omega (rad/s).
+  /**
+   * This function can return our robots ChassisSpeeds, which is vx (m/s), vy (m/s), and omega
+   * (rad/s).
    */
   public ChassisSpeeds getSpeeds() {
     return DriveConstants.kDriveKinematics.toChassisSpeeds(getWheelSpeeds());
   }
 
-  /*
+  /**
    * This function can set our robots ChassisSpeeds, which is vx (m/s), vy (m/s), and omega (rad/s).
    * vy is always 0 as we are not strafing.
    */
   public void setSpeeds(ChassisSpeeds speeds) {
     setWheelVelocities(DriveConstants.kDriveKinematics.toWheelSpeeds(speeds));
   }
 
-  /*
-   * This function can set our robots DifferentialDriveWheelSpeeds, which is the speed of each side of the robot.
+  /**
+   * This function can set our robots DifferentialDriveWheelSpeeds, which is the speed of each side
+   * of the robot.
    */
   public void setWheelVelocities(DifferentialDriveWheelSpeeds speeds) {
     // get left and right speeds in m/s, and run through feedforward to get feedforward voltage

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

@@ -161,9 +161,7 @@ public Command sysIdDynamic(SysIdRoutine.Direction direction) {
     return m_sysIdRoutine.dynamic(direction);
   }
 
-  /*
-   * Move elevator to a specific height
-   */
+  /** Move elevator to a specific height */
   public void SetHeight(double meters) {
     m_ElevatorMainPIDController.setReference(
         meters,
@@ -172,9 +170,7 @@ public void SetHeight(double meters) {
         m_ElevatorFeedforward.calculate(meters));
   }
 
-  /*
-   * Retract the elevator
-   */
+  /** Retract the elevator */
   public void LowerElevator() {
     SetHeight(0);
   }

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

@@ -144,9 +144,7 @@ public Command sysIdDynamic(SysIdRoutine.Direction direction) {
     return m_sysIdRoutine.dynamic(direction);
   }
 
-  /*
-   * Spin shooter at a given Speed (M/S)
-   */
+  /** Spin shooter at a given Speed (M/S) */
   public void SpinShooter(double speed) {
     m_ShooterMainPIDController.setReference(
         speed,
@@ -159,16 +157,12 @@ public void SpinAtFull() {
     SpinShooter(1);
   }
 
-  /*
-   * Stop the shooter
-   */
+  /** Stop the shooter */
   public void StopShooter() {
     SpinShooter(0);
   }
 
-  /*
-   * Check if shooter is at a given Speed
-   */
+  /** Check if shooter is at a given Speed */
   public Boolean isAtSpeedTolerance(double speed) {
     return (m_ShooterMainEncoder.getVelocity() > speed - 0.1
         && m_ShooterMainEncoder.getVelocity() < speed + 0.1);

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

@@ -150,8 +150,10 @@ public Command sysIdDynamic(SysIdRoutine.Direction direction) {
     return m_sysIdRoutine.dynamic(direction);
   }
 
-  /*
+  /**
    * Move Turntable to a specific angle
+   *
+   * @param radians Angle in radians which we want to move the turntable to
    */
   public void SetAngle(double radians) {
     m_TurntableMainPIDController.setReference(
@@ -161,9 +163,7 @@ public void SetAngle(double radians) {
         m_TurntableFeedforward.calculate(radians, m_TurntableEncoder.getVelocity()));
   }
 
-  /*
-   * Reset the Turntable
-   */
+  /** Reset the Turntable */
   public void ResetTurntable() {
     SetAngle(kStartingAngleRads);
   }