diff --git a/src/main/java/frc4388/robot/subsystems/BoomBoom.java b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
index 7898e16..54fc697 100644
--- a/src/main/java/frc4388/robot/subsystems/BoomBoom.java
+++ b/src/main/java/frc4388/robot/subsystems/BoomBoom.java
@@ -46,15 +46,15 @@ public static class ShooterTableEntry {
 
 private ShooterTableEntry[] m_shooterTable;
 
-/*
-* Creates new BoomBoom subsystem, has drum shooter and angle adjuster
-*/
-  /** Creates a new BoomBoom. */
+/**
+ * Creates a new BoomBoom subsystem, which has the drum shooter.
+ * @param shooterFalconLeft The left drum motor.
+ * @param shooterFalconRight The right drum motor.
+ */
 public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
   m_shooterFalconLeft = shooterFalconLeft;
   m_shooterFalconRight = shooterFalconRight;
 
-
   try {
     CSV<ShooterTableEntry> csv = new CSV<>(ShooterTableEntry::new) {
       private final Pattern parentheses = Pattern.compile("\\([^\\)]*+\\)");
@@ -81,6 +81,8 @@ public Double getHood(final Double distance) {
   return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue();
 }
 
+// TODO: @nathanrsxtn pls java doc your shooter tables code
+
 private static <E> Number linearInterpolate(final E[] table, final Number lookupValue, final Function<E, Number> lookupGetter, final Function<E, Number> targetGetter) {
   final Map.Entry<Integer, E> closestEntry = lookup(table, lookupValue.doubleValue(), lookupGetter, false).orElse(Map.entry(table.length - 1, table[table.length - 1]));
   final E closestRecord = closestEntry.getValue();
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index 342bbca..f945d3c 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -130,6 +130,10 @@ public class SwerveDrive extends SubsystemBase {
     setModuleStates(states);
   }
 
+  /**
+   * Set each module of the swerve drive to the corresponding desired state.
+   * @param desiredStates Array of module states to set.
+   */
   public void setModuleStates(SwerveModuleState[] desiredStates) {
     SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, Units.feetToMeters(SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC));
     for (int i = 0; i < desiredStates.length; i++) {
@@ -146,15 +150,7 @@ public class SwerveDrive extends SubsystemBase {
     updateOdometry();
     // SmartDashboard.putNumber("Pigeon Fused Heading", m_gyro.getFusedHeading(fstatus));
 
-    SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw()); 
-
-    // SmartDashboard.putNumber("Front Left", modules[0].driveMotor.getSelectedSensorPosition());
-    // SmartDashboard.putNumber("Front Right", modules[1].driveMotor.getSelectedSensorPosition());
-    // SmartDashboard.putNumber("Back Left", modules[2].driveMotor.getSelectedSensorPosition());
-    // SmartDashboard.putNumber("Back Right", modules[3].driveMotor.getSelectedSensorPosition());
-    // SmartDashboard.putNumber("Pigeon Get Angle", m_gyro.getAngle());
-    // SmartDashboard.putNumber("Pigeon Rotation 2D", m_gyro.getRotation2d().getDegrees());
-    // SmartDashboard.putStringArray("Fusion Status", new String[] {"Is Fusing: "+fstatus.bIsFusing, "Is Valid: "+fstatus.bIsValid, "Heading: "+fstatus.heading});
+    SmartDashboard.putNumber("Pigeon Yaw", m_gyro.getYaw());
 
     // m_field.setRobotPose(m_poseEstimator.getEstimatedPosition());
     super.periodic();
@@ -226,7 +222,10 @@ public class SwerveDrive extends SubsystemBase {
       //         m_poseEstimator.getEstimatedPosition(),
       //     Timer.getFPGATimestamp() - 0.1);
     }
-
+  
+  /**
+   * Resets pigeon.
+   */
   public void resetGyro(){
     m_gyro.reset();
     rotTarget = new Rotation2d(0);
@@ -242,6 +241,10 @@ public class SwerveDrive extends SubsystemBase {
     modules[3].stop();
   }
 
+  /**
+   * Switches speed modes.
+   * @param shift True if fast mode, false if slow mode.
+   */
   public void highSpeed(boolean shift){
     if (shift){
       speedAdjust = SwerveDriveConstants.JOYSTICK_TO_METERS_PER_SECOND_FAST;