diff --git a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
index a5ab006..8b5afdf 100644
--- a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
@@ -12,6 +12,11 @@ import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
 import frc4388.utility.UtilityStructs.AutoRecordingFrame;
 import frc4388.utility.controller.VirtualController;
 
+
+/**
+ * The NEO autonomus playback system, designed based the old {@link JoystickPlayback} System but with {@link VirtualController}s 
+ * @author Zachary Wilke
+ */
 public class neoJoystickPlayback extends Command {
     private final SwerveDrive                   swerve;
     private final VirtualController[]           controllers;
@@ -29,6 +34,14 @@ public class neoJoystickPlayback extends Command {
     private byte  m_numControllers = 0;
     private short m_numFrames = -1;
 
+    /**
+     * Creates an new NEO Joystick Playback with specifyed pramiters.
+     * @param swerve m_robotSwerveDrive
+     * @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board. 
+     * @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
+     * @param shouldfree Unloads the auto on compleation or intruption.
+     * @param instantload Load the auto on object instantiation
+     */
     public neoJoystickPlayback(SwerveDrive swerve, Supplier<String> filenameGetter, VirtualController[] controllers, boolean shouldfree, boolean instantload) {
         this.swerve = swerve;
         this.filenameGetter = filenameGetter;
@@ -38,18 +51,44 @@ public class neoJoystickPlayback extends Command {
         if (instantload) loadAuto();
         addRequirements(this.swerve);
     }
+
+    /**
+     * Creates an new NEO Joystick Playback with specifyed pramiters.
+     * @param swerve m_robotSwerveDrive
+     * @param filename a String containing the name of the auto file you wish to playback. 
+     * @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
+     * @param shouldfree unloads the auto on compleation or intruption.
+     * @param instantload load the auto on object instantiation
+     */
     public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers, boolean shouldfree, boolean instantload) {
         this(swerve, () -> filename, controllers, shouldfree, instantload);
     }
 
+    /**
+     * Creates an new NEO Joystick Playback with specifyed pramiters.
+     * @param swerve m_robotSwerveDrive
+     * @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
+     * @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
+     */
     public neoJoystickPlayback(SwerveDrive swerve, Supplier<String> filenameGetter, VirtualController[] controllers) {
         this(swerve, filenameGetter, controllers, true, false);
     }
 
+    /**
+     * Creates an new NEO Joystick Playback with specifyed pramiters.
+     * @param swerve m_robotSwerveDrive
+     * @param filename a String containing the name of the auto file you wish to playback. 
+     * @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
+     */
     public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers) {
         this(swerve, () -> filename, controllers, true, false);
     }
     
+    /**
+     * Load the auto file from disk into memory
+     * @return Returns true if loading was successful, else wise; return false
+     * @implNote if the auto is already loaded, it will return true. 
+     */
     public boolean loadAuto() {
         filename = filenameGetter.get();
         try (FileInputStream stream = new FileInputStream("/home/lvuser/autos/" + filename)) {
@@ -101,6 +140,9 @@ public class neoJoystickPlayback extends Command {
         }
     }
     
+    /**
+     * Unloads the auto.
+     */
     public void unloadAuto() {
         System.out.println("AUTOPLAYBACK: Auto unloaded");
         frames.clear();
diff --git a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
index d1870ec..7f48a6c 100644
--- a/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
+++ b/src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
@@ -13,6 +13,10 @@ import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
 import frc4388.utility.UtilityStructs.AutoRecordingFrame;
 import frc4388.utility.controller.DeadbandedXboxController;
 
+/**
+ * The NEO autonomus recording system, designed based the old {@link JoystickRecorder} System but with {@link frc4388.utility.controller.VirtualController VirtualController}s 
+ * @author Zachary Wilke
+ */
 public class neoJoystickRecorder extends Command {
     private final SwerveDrive swerve;
     private final XboxController[] controllers;
@@ -21,6 +25,12 @@ public class neoJoystickRecorder extends Command {
     private       long startTime = -1;
     private final ArrayList<AutoRecordingFrame> frames = new ArrayList<>();
 
+    /**
+     * Creates an new NEO Joystick Playback with specifyed pramiters.
+     * @param swerve m_robotSwerveDrive
+     * @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
+     * @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
+     */
     public neoJoystickRecorder(SwerveDrive swerve, DeadbandedXboxController[] controllers, Supplier<String> filenameGetter) {
         this.swerve = swerve;
         this.controllers = controllers;
@@ -30,6 +40,12 @@ public class neoJoystickRecorder extends Command {
         addRequirements(this.swerve);
     }
 
+    /**
+     * Creates an new NEO Joystick Playback with specifyed pramiters.
+     * @param swerve m_robotSwerveDrive
+     * @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
+     * @param filename a String containing the name of the auto file you wish to playback. 
+     */
     public neoJoystickRecorder(SwerveDrive swerve, DeadbandedXboxController[] controllers, String filename) {
         this(swerve, controllers, () -> filename);
     }
diff --git a/src/main/java/frc4388/utility/controller/VirtualController.java b/src/main/java/frc4388/utility/controller/VirtualController.java
index 12e98cf..709bc1d 100644
--- a/src/main/java/frc4388/utility/controller/VirtualController.java
+++ b/src/main/java/frc4388/utility/controller/VirtualController.java
@@ -2,22 +2,39 @@ package frc4388.utility.controller;
 
 import edu.wpi.first.wpilibj.GenericHID;
 
+/**
+ * A virtual controller that can be bound like an standard controller.
+ * @author Zachary Wilke
+ */
 public class VirtualController extends GenericHID {
     private short m_buttonStates = 0; 
     private short m_buttonStatesLastFrame = 0; 
     private double[] m_axes = new double[6];
     private short[] m_pov = new short[1];
 
+    /**
+     * Create an virtual controller
+     * @param port virtual port (merely a formality).
+     */
     public VirtualController(int port) {
         super(port);
     }
 
+    /**
+     * Set the curent inputs to the new frames.
+     * @param axes joystick axes, (i.e. joysticks and triggers).
+     * @param buttonFlags the bit packed button states.
+     * @param pov the array of dpads.
+     */
     public void setFrame(double[] axes, short buttonFlags, short[] pov) {
         m_axes = axes;
         setOutputs(buttonFlags);
         m_pov = pov;
     }
 
+    /**
+     * Zero outs the controls.
+     */
     public void zeroControls() {
         m_axes = new double[6];
         m_buttonStates = 0;
@@ -25,6 +42,12 @@ public class VirtualController extends GenericHID {
         m_pov = new short[1];
     }
 
+    /**
+     * Gets the value of a bitflag from an int
+     * @param value int to search
+     * @param index index of bit
+     * @return if the bit is set
+     */
     public static boolean getFlag(int value, int index) {
         return ((value & 1 << index) != 0);
     }
@@ -90,6 +113,10 @@ public class VirtualController extends GenericHID {
                   Hopefully this isn't a problem            */
     }
 
+    /** 
+     * Use {@link VirtualController#setFrame} or {@link VirtualController#setOutputs}.
+     * this is an no-op overide.
+     */
     @Override
     public void setOutput(int outputNumber, boolean value) {
         // do not use
@@ -97,12 +124,20 @@ public class VirtualController extends GenericHID {
         //m_buttonStates[outputNumber - 1] = value;
     }
 
+    /**
+     * Set buttons from a packed int, if you want to set joysticks and dpad use {@link VirtualController#SetFrame} 
+     */    
     @Override
     public void setOutputs(int value) {
         m_buttonStatesLastFrame = m_buttonStates;
         m_buttonStates = (short) value;
     }
 
+    /**
+     * Why are you Setting rumble on an virtual controller?
+     * @param type the rumble type (even though it won't do anything)
+     * @param value the rumble strength (always multiplyed by 0.0)
+     */
     @Override
     public void setRumble(RumbleType type, double value) {
         System.out.println("Why are you Setting rumble on an virtual controller?");