diff --git a/src/main/java/frc4388/utility/DesmosServer.java b/src/main/java/frc4388/utility/DesmosServer.java
index bc82bca..ceaea0e 100644
--- a/src/main/java/frc4388/utility/DesmosServer.java
+++ b/src/main/java/frc4388/utility/DesmosServer.java
@@ -11,21 +11,52 @@ import java.util.HashMap;
 
 import org.opencv.core.Point;
 
+/** 
+ * A http server that allows the robot to communicate with Desmos Graphing Calculator
+ * 
+ * @author Daniel McGrath
+ * */
 public class DesmosServer extends Thread {
     private static HashMap<String, String> desmosVariables = new HashMap<>();
     private static HashMap<String, String> readVariables = new HashMap<>();
 
     private static boolean running = false;
+    
+    private int activePort;
+    
+    /** 
+     * Creates DesmosServer running on port
+     * <p>
+     * Use this for cases when the robot is using the default port
+     * 
+     * @param port The port the server will run on
+     * */
+    public DesmosServer(int port) {
+    	activePort = port;
+    }
+    
+    /** 
+     * Creates DesmosServer running on port 5500
+     * */
+    public DesmosServer() {
+    	activePort = 5500;
+    }
 
     @Override
     public void run() {
         try {
-            runServer(5500);
+            runServer(activePort);
         } catch(Exception err) {
             err.printStackTrace();
         }
     }
 
+    /** 
+     * Runs server on port
+     * 
+     * @param port The port the server runs on
+     * @throws IOException
+     * */
     public void runServer(int port) throws IOException {
         ServerSocket serverSocket = new ServerSocket(port);
         running = true;
@@ -36,6 +67,12 @@ public class DesmosServer extends Thread {
         }
     }
 
+    /**
+     * Handles client requests
+     * 
+     * @param The client connection
+     * @throws IOException
+     * */
     public void handleClient(Socket client) throws IOException {
         InputStreamReader clientStream = new InputStreamReader(client.getInputStream());
         BufferedReader bufferedReader = new BufferedReader(clientStream);
@@ -50,6 +87,12 @@ public class DesmosServer extends Thread {
         sendResponse(client);
     }
 
+    /**
+     * Sends JSON response
+     * 
+     * @param The client connection
+     * @throws IOException
+     * */
     public void sendResponse(Socket client) throws IOException {
         OutputStream clientOutput = client.getOutputStream();
         
@@ -58,17 +101,25 @@ public class DesmosServer extends Thread {
         clientOutput.close();
     }
 
+    /**
+     * Produces JSON output containing Desmos output.
+     * 
+     * @return JSON string to be read by Desmos client
+     * */
     public static String getJSONOutput() {
         String json = "[";
 
-        for(String key : desmosVariables.keySet()) {
-            json += "{"
-                + "\"name\":" + key
-                + "\"value\":" + desmosVariables.get(key)
-                + "},";
+        if(!desmosVariables.isEmpty()) {
+	        for(String key : desmosVariables.keySet()) {
+	            json += "{"
+	                + "\"name\":\"" + key + "\","
+	                + "\"value\":\"" + desmosVariables.get(key) + "\""
+	                + "},";
+	        }
+	
+	        json = json.substring(0, json.length()-1); // remove comma at the end
         }
-
-        json = json.substring(0, json.length()-1); // remove comma at the end
+        
         json += "]";
 
         return json;
@@ -77,6 +128,8 @@ public class DesmosServer extends Thread {
     public static boolean isRunning() {
         return running;
     }
+    
+    // ---------------------------------------------------------------------
 
     public static void putInteger(String name, Integer value) {        
         desmosVariables.put(name, value.toString());
@@ -89,6 +142,16 @@ public class DesmosServer extends Thread {
     public static void putPoint(String name, Point point) {
         desmosVariables.put(name, "(" + point.x + "," + point.y + ")");
     }
+    
+    public static void putIntegerArray(String name, int... arr) {
+    	desmosVariables.put(name, Arrays.toString(arr).replace(" ", ""));
+    }
+    
+    public static void putDoubleArray(String name, double... arr) {
+    	desmosVariables.put(name, Arrays.toString(arr).replace(" ", ""));
+    }
+    
+    // ---------------------------------------------------------------------
 
     public static int readInteger(String name) {
         return Integer.parseInt(readVariables.get(name));