Merge pull request #13 from TotalTaxAmount/more-documentation

More documentation

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

@@ -14,6 +14,15 @@ public class DriveCommands extends Command {
     private final DoubleSupplier radians;
     private final boolean fieldRelativeFromButton;
 
+    /**
+     * This class contains all the drive commands for swerve
+     * @param swerveSubsystem SwerveSubsystem instance for controlling the swerve drive
+     * @param forward The target forward meters/second
+     * @param sideways The target sideways meters/second
+     * @param radians The target radian for the rotation
+     * @param fieldRelative If the swerve should be relative to the robot or the field
+     * @param limited If we are limiting the motors
+     */
     public DriveCommands(SwerveSubsystem swerveSubsystem, DoubleSupplier forward, DoubleSupplier sideways, DoubleSupplier radians, boolean fieldRelative, boolean limited) {
         this.swerveSubsystem = swerveSubsystem;
         this.forward = forward;
@@ -23,6 +32,7 @@ public DriveCommands(SwerveSubsystem swerveSubsystem, DoubleSupplier forward, Do
         addRequirements(swerveSubsystem);
     }
 
+    // Don't write javadoc for wpilib functions
     @Override
     public void execute() {
         double forwardDesired = MathUtil.applyDeadband(forward.getAsDouble(), 0.06);

src/main/java/frc/robot/controllers/SwerveModuleControlller.java

@@ -6,6 +6,7 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import frc.robot.constants.DrivetrainConstants;
 
+// TODO: Lots of deprecated stuff here
 public class SwerveModuleControlller {
     private final CANSparkMax drivingMotor;
     private final CANSparkMax turningMotor;
@@ -17,14 +18,20 @@ public class SwerveModuleControlller {
 
     private double chassisAngularOffset;
 
+    /**
+     * This class contains all  the logic and code to control the swerve motors
+     * @param drivingPort the port for the drive motor
+     * @param turningPort the port for the turning motor
+     * @param chassisAngularOffset the angular offset of the motor to the chassis?
+     */
     public SwerveModuleControlller(int drivingPort, int turningPort, double chassisAngularOffset) {
 
         this.chassisAngularOffset = chassisAngularOffset;
-        drivingMotor = new CANSparkMax(drivingPort, CANSparkMaxLowLevel.MotorType.kBrushless);
-        turningMotor = new CANSparkMax(turningPort, CANSparkMaxLowLevel.MotorType.kBrushless);
+        drivingMotor = new CANSparkMax(drivingPort, CANSparkLowLevel.MotorType.kBrushless);
+        turningMotor = new CANSparkMax(turningPort, CANSparkLowLevel.MotorType.kBrushless);
 //        drivingEncoder = drivingMotor.getEncoder();
         drivingEncoder = drivingMotor.getEncoder();
-        turningEncoder = turningMotor.getAbsoluteEncoder(SparkMaxAbsoluteEncoder.Type.kDutyCycle);
+        turningEncoder = turningMotor.getAbsoluteEncoder(SparkAbsoluteEncoder.Type.kDutyCycle);
         drivingPID = drivingMotor.getPIDController();
         turningPID = turningMotor.getPIDController();
         m_desiredState = new SwerveModuleState(0.0, new Rotation2d());
@@ -71,14 +78,26 @@ public SwerveModuleControlller(int drivingPort, int turningPort, double chassisA
         turningMotor.burnFlash();
     }
 
+    /**
+     * This function gets the state of the swerve module
+     * @return Returns a SwerveModuleState containing info about the velocity and rotation of the swerve module
+     */
     public SwerveModuleState getState() {
         return new SwerveModuleState(drivingEncoder.getVelocity(), new Rotation2d(turningEncoder.getPosition() - chassisAngularOffset));
     }
 
+    /**
+     * Gets the position of the swerve module
+     * @return Returns a SwerveModulePosition containing info about the velocity and rotation of the swerve module
+     */
     public SwerveModulePosition getPosition() {
         return new SwerveModulePosition(drivingEncoder.getPosition(), new Rotation2d(turningEncoder.getPosition() - chassisAngularOffset));
     }
 
+    /**
+     * This function sets the state of a swerve module
+     * @param desiredState the target state for the module
+     */
     public void setDesiredState(SwerveModuleState desiredState) {
         SwerveModuleState correctedDesiredState = new SwerveModuleState();
         correctedDesiredState.speedMetersPerSecond = desiredState.speedMetersPerSecond;
@@ -96,10 +115,17 @@ public void setDesiredState(SwerveModuleState desiredState) {
 
     }
 
+    /**
+     * Gets the current desired state
+     * @return returns the desired state as a SwerveModuleState
+     */
     public SwerveModuleState getDesiredState(){
         return m_desiredState;
     }
 
+    /**
+     * This function resets all encoders for the swerve module
+     */
     public void resetEncoders() {
         drivingEncoder.setPosition(0.0);
     }

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

@@ -161,7 +161,6 @@ public void periodic() {
     /**
      * Get robot's pose.
      */
-
     private Pose2d getPose() {
         return odometry.getPoseMeters();
     }

src/main/java/frc/robot/utils/NetworkTableUtils.java

@@ -6,34 +6,76 @@
 public class NetworkTableUtils {
     private NetworkTable table;
 
+    /**
+     * This class is a utility class for interfacing with network tables
+     * @param table The string ID for a network tables table
+     */
     public NetworkTableUtils(String table) {
         this.table = NetworkTableInstance.getDefault().getTable(table);
     }
 
+    /**
+     * This function returns the table of this instance of NetworkTableUtils
+     * @return Returns the table as a NetworkTable
+     */
     public NetworkTable getTable() {
         return this.table;
     }
 
+    /**
+     * This function gets a value from network tables as a double
+     * @param key The key in Network Tables for the value
+     * @param defaultValue If the entry is not found or null we will return this
+     * @return Returns the Network Table entry as a double
+     */
     public double getDouble(String key, double defaultValue) {
         return this.table.getEntry(key).getDouble(defaultValue);
     }
 
+    /**
+     * This function gets a value from network tables as a String
+     * @param key The key in Network Tables for the value
+     * @param defaultValue If the entry is not found or null we will return this
+     * @return Returns the Network Table entry as a String
+     */
     public String getString(String key, String defaultValue) {
         return this.table.getEntry(key).getString(defaultValue);
     }
 
+    /**
+     * This function gets a value from Network Tables as a double array
+     * @param key The key in Network Tables for the value
+     * @param doubles If the entry is not found or null we will return this
+     * @return Returns the Network Table entry as a double array (double[])
+     */
     public double[] getDoubleArray(String key, double[] doubles) {
         return this.table.getEntry(key).getDoubleArray(doubles);
     }
 
+    /**
+     * This function sets a double in network tables
+     * @param key The key in Network Tables for the value
+     * @param value What we are setting the entry to
+     */
     public void setDouble(String key, double value) {
         this.table.getEntry(key).setDouble(value);
     }
 
+    /**
+     * This function sets a String in network tables
+     * @param key The key in Network Tables for the value
+     * @param value What we are setting the entry to
+     */
     public void setString(String key, String value) {
         this.table.getEntry(key).setString(value);
     }
 
+    /**
+     * This function returns a entry as whatever it is
+     * @param key The key in Network Tables for the value
+     * @param value We will return this is the entry is invalid
+     * @return Returns the entry as whatever it is
+     */
     public <T> T getEntry(String key, T value) {
         if (this.table.getEntry(key).exists()) {
             if (value instanceof Double) {
@@ -48,6 +90,11 @@ public <T> T getEntry(String key, T value) {
         }
     }
 
+    /**
+     * Sets a entry in Network Tables to a value
+     * @param key The key in Network Tables for the value
+     * @param value The value we are setting the entry to.
+     */
     public <T> void setEntry(String key, T value) {
         if (this.table.getEntry(key).exists()) {
             if (value instanceof Double) {