Merge branch 'master' into add-falcon-500-motion-magic

src/main/java/frc4388/robot/RobotContainer.java

@@ -110,14 +110,16 @@ public class RobotContainer {
     }
 
     /**
-     * Add your docs here.
+     * Used for analog inputs like triggers and axises.
+     * @return IHandController interface for the Driver Controller.
      */
     public IHandController getDriverController() {
         return m_driverXbox;
     }
     
     /**
-     * Add your docs here.
+     * Used for analog inputs like triggers and axises.
+     * @return The IHandController interface for the Operator Controller.
      */
     public IHandController getOperatorController()
     {
@@ -125,7 +127,9 @@ public class RobotContainer {
     }
     
     /**
-     * Add your docs here.
+     * Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Operator Xbox Controller.
+     * Generic HIDs/Joysticks can be used to set up JoystickButtons.
+     * @return The IHandController interface for the Operator Controller.
      */
     public Joystick getOperatorJoystick()
     {
@@ -133,7 +137,9 @@ public class RobotContainer {
     }
     
     /**
-     * Add your docs here.
+     * Gets the {@link edu.wpi.first.wpilibj.GenericHID#GenericHID(int) Generic HID} for the Driver Xbox Controller.
+     * Generic HIDs/Joysticks can be used to set up JoystickButtons.
+     * @return The IHandController interface for the Driver Controller.
      */
     public Joystick getDriverJoystick()
     {

src/main/java/frc4388/robot/commands/DriveWithJoystick.java

@@ -16,7 +16,12 @@ public class DriveWithJoystick extends CommandBase {
   private IHandController m_controller;
 
   /**
-   * Creates a new DriveWithJoystick.
+   * Creates a new DriveWithJoystick to control the drivetrain with an Xbox controller.
+   * Applies a curved ramp to the input from the controllers to make the robot less "touchy".
+   * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
    */
   public DriveWithJoystick(Drive subsystem, IHandController controller) {
     // Use addRequirements() here to declare subsystem dependencies.

src/main/java/frc4388/robot/commands/RunIntakeWithTriggers.java

@@ -16,9 +16,12 @@ public class RunIntakeWithTriggers extends CommandBase {
   private IHandController m_controller;
 
   /**
-   * Uses input from opperator triggers to control intake motor
-   * @param subsystem the intake subsystem
-   * @param controller the operator controller
+   * Uses input from opperator triggers to control intake motor.
+   * The right trigger will run the intake in and the left trigger will run it out.
+   * @param subsystem pass the Intake subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Operator {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getOperatorJoystick() getOperatorJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
    */
   public RunIntakeWithTriggers(Intake subsystem, IHandController controller) {
     // Use addRequirements() here to declare subsystem dependencies.
@@ -43,7 +46,7 @@ public class RunIntakeWithTriggers extends CommandBase {
         output = rightTrigger;
       }
       if (leftTrigger > rightTrigger) {
-        output = leftTrigger;
+        output = -leftTrigger;
       }
     } else {
       output = rightTrigger;

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -28,7 +28,7 @@ public class Intake extends SubsystemBase {
 
   /**
    * Runs intake motor
-   * @param input the voltage to run motor at
+   * @param input the percent output to run motor at
    */
   public void runIntake(double input) {
     m_intakeMotor.set(input);

src/main/java/frc4388/robot/subsystems/LED.java

@@ -14,17 +14,14 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.utility.LEDPatterns;
 
-/**
- * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
- * Driver
- */
 public class LED extends SubsystemBase {
 
   public static float currentLED;
   public static Spark LEDController;
 
   /**
-   * Add your docs here.
+   * Creates a new LED to run a 5v LED Strip using a Rev 
+   * Robotics Blinkin LED Driver
    */
   public LED(){
     LEDController = new Spark(LEDConstants.LED_SPARK_ID);
@@ -34,14 +31,17 @@ public class LED extends SubsystemBase {
   }
 
   /**
-   * Add your docs here.
+   * Sends an update to the LED Driver with the current LED value.
+   * This method should be run continously to keep the lights on.
    */
   public void updateLED(){
     LEDController.set(currentLED);
   }
 
   /**
-   * Add your docs here.
+   * Sets the current LED pattern. This method should only be run
+   * whenever you want to change the current LED.
+   * @param pattern LEDPattern to set the Blinkin to.
    */
   public void setPattern(LEDPatterns pattern){
     currentLED = pattern.getValue();