[docs] Fix wpilibj JavaDoc warnings (#6154)

wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java

@@ -22,7 +22,10 @@ import java.io.Closeable;
  * calls.
  */
 public class CAN implements Closeable {
+  /** Team manufacturer. */
   public static final int kTeamManufacturer = CANAPITypes.CANManufacturer.kTeamUse.id;
+
+  /** Team device type. */
   public static final int kTeamDeviceType = CANAPITypes.CANDeviceType.kMiscellaneous.id;
 
   private final int m_handle;

wpilibj/src/main/java/edu/wpi/first/wpilibj/CompressorConfigType.java

@@ -6,12 +6,18 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.REVPHJNI;
 
+/** Compressor config type. */
 public enum CompressorConfigType {
+  /** Disabled. */
   Disabled(REVPHJNI.COMPRESSOR_CONFIG_TYPE_DISABLED),
+  /** Digital. */
   Digital(REVPHJNI.COMPRESSOR_CONFIG_TYPE_DIGITAL),
+  /** Analog. */
   Analog(REVPHJNI.COMPRESSOR_CONFIG_TYPE_ANALOG),
+  /** Hybrid. */
   Hybrid(REVPHJNI.COMPRESSOR_CONFIG_TYPE_HYBRID);
 
+  /** CompressorConfigType value. */
   public final int value;
 
   CompressorConfigType(int value) {
@@ -37,6 +43,11 @@ public enum CompressorConfigType {
     }
   }
 
+  /**
+   * Returns the CompressorConfigType's value.
+   *
+   * @return The CompressorConfigType's value.
+   */
   public int getValue() {
     return value;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java

@@ -38,6 +38,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
     /** mode: external direction. */
     kExternalDirection(3);
 
+    /** Mode value. */
     public final int value;
 
     Mode(int value) {
@@ -45,13 +46,23 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
     }
   }
 
-  protected DigitalSource m_upSource; // /< What makes the counter count up.
-  protected DigitalSource m_downSource; // /< What makes the counter count down.
+  /** What makes the counter count up. */
+  protected DigitalSource m_upSource;
+
+  /** What makes the counter count down. */
+  protected DigitalSource m_downSource;
+
   private boolean m_allocatedUpSource;
   private boolean m_allocatedDownSource;
-  int m_counter; // /< The FPGA counter object.
-  private int m_index; // /< The index of this counter.
-  private double m_distancePerPulse = 1; // distance of travel for each tick
+
+  /** The FPGA counter object. */
+  int m_counter;
+
+  /** The index of this counter. */
+  private int m_index;
+
+  /** Distance of travel for each tick. */
+  private double m_distancePerPulse = 1;
 
   /**
    * Create an instance of a counter with the given mode.

wpilibj/src/main/java/edu/wpi/first/wpilibj/CounterBase.java

@@ -22,6 +22,7 @@ public interface CounterBase {
     /** Count rising and falling on both channels. */
     k4X(2);
 
+    /** EncodingType value. */
     public final int value;
 
     EncodingType(int value) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/DMA.java

@@ -7,9 +7,11 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.hal.DMAJNI;
 import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController;
 
+/** Class for configuring Direct Memory Access (DMA) of FPGA inputs. */
 public class DMA implements AutoCloseable {
   final int m_dmaHandle;
 
+  /** Default constructor. */
   public DMA() {
     m_dmaHandle = DMAJNI.initialize();
   }
@@ -19,50 +21,128 @@ public class DMA implements AutoCloseable {
     DMAJNI.free(m_dmaHandle);
   }
 
+  /**
+   * Sets whether DMA is paused.
+   *
+   * @param pause True pauses DMA.
+   */
   public void setPause(boolean pause) {
     DMAJNI.setPause(m_dmaHandle, pause);
   }
 
+  /**
+   * Sets DMA to trigger at an interval.
+   *
+   * @param periodSeconds Period at which to trigger DMA in seconds.
+   */
   public void setTimedTrigger(double periodSeconds) {
     DMAJNI.setTimedTrigger(m_dmaHandle, periodSeconds);
   }
 
+  /**
+   * Sets number of DMA cycles to trigger.
+   *
+   * @param cycles Number of cycles.
+   */
   public void setTimedTriggerCycles(int cycles) {
     DMAJNI.setTimedTriggerCycles(m_dmaHandle, cycles);
   }
 
+  /**
+   * Adds position data for an encoder to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param encoder Encoder to add to DMA.
+   */
   public void addEncoder(Encoder encoder) {
     DMAJNI.addEncoder(m_dmaHandle, encoder.m_encoder);
   }
 
+  /**
+   * Adds timer data for an encoder to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param encoder Encoder to add to DMA.
+   */
   public void addEncoderPeriod(Encoder encoder) {
     DMAJNI.addEncoderPeriod(m_dmaHandle, encoder.m_encoder);
   }
 
+  /**
+   * Adds position data for an counter to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param counter Counter to add to DMA.
+   */
   public void addCounter(Counter counter) {
     DMAJNI.addCounter(m_dmaHandle, counter.m_counter);
   }
 
+  /**
+   * Adds timer data for an counter to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param counter Counter to add to DMA.
+   */
   public void addCounterPeriod(Counter counter) {
     DMAJNI.addCounterPeriod(m_dmaHandle, counter.m_counter);
   }
 
+  /**
+   * Adds a digital source to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param digitalSource DigitalSource to add to DMA.
+   */
   public void addDigitalSource(DigitalSource digitalSource) {
     DMAJNI.addDigitalSource(m_dmaHandle, digitalSource.getPortHandleForRouting());
   }
 
+  /**
+   * Adds a duty cycle input to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param dutyCycle DutyCycle to add to DMA.
+   */
   public void addDutyCycle(DutyCycle dutyCycle) {
     DMAJNI.addDutyCycle(m_dmaHandle, dutyCycle.m_handle);
   }
 
+  /**
+   * Adds an analog input to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param analogInput AnalogInput to add to DMA.
+   */
   public void addAnalogInput(AnalogInput analogInput) {
     DMAJNI.addAnalogInput(m_dmaHandle, analogInput.m_port);
   }
 
+  /**
+   * Adds averaged data of an analog input to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param analogInput AnalogInput to add to DMA.
+   */
   public void addAveragedAnalogInput(AnalogInput analogInput) {
     DMAJNI.addAveragedAnalogInput(m_dmaHandle, analogInput.m_port);
   }
 
+  /**
+   * Adds accumulator data of an analog input to be collected by DMA.
+   *
+   * <p>This can only be called if DMA is not started.
+   *
+   * @param analogInput AnalogInput to add to DMA.
+   */
   public void addAnalogAccumulator(AnalogInput analogInput) {
     DMAJNI.addAnalogAccumulator(m_dmaHandle, analogInput.m_port);
   }
@@ -84,26 +164,58 @@ public class DMA implements AutoCloseable {
         falling);
   }
 
-  public int setPwmEdgeTrigger(PWMMotorController pwm, boolean rising, boolean falling) {
-    return DMAJNI.setExternalTrigger(m_dmaHandle, pwm.getPwmHandle(), 0, rising, falling);
-  }
-
+  /**
+   * Sets a DMA PWM edge trigger.
+   *
+   * @param pwm the PWM to trigger from.
+   * @param rising trigger on rising edge.
+   * @param falling trigger on falling edge.
+   * @return the index of the trigger
+   */
   public int setPwmEdgeTrigger(PWM pwm, boolean rising, boolean falling) {
     return DMAJNI.setExternalTrigger(m_dmaHandle, pwm.getHandle(), 0, rising, falling);
   }
 
+  /**
+   * Sets a DMA PWMMotorController edge trigger.
+   *
+   * @param pwm the PWMMotorController to trigger from.
+   * @param rising trigger on rising edge.
+   * @param falling trigger on falling edge.
+   * @return the index of the trigger
+   */
+  public int setPwmEdgeTrigger(PWMMotorController pwm, boolean rising, boolean falling) {
+    return DMAJNI.setExternalTrigger(m_dmaHandle, pwm.getPwmHandle(), 0, rising, falling);
+  }
+
+  /**
+   * Clear all sensors from the DMA collection list.
+   *
+   * <p>This can only be called if DMA is not started.
+   */
   public void clearSensors() {
     DMAJNI.clearSensors(m_dmaHandle);
   }
 
+  /**
+   * Clear all external triggers from the DMA trigger list.
+   *
+   * <p>This can only be called if DMA is not started.
+   */
   public void clearExternalTriggers() {
     DMAJNI.clearExternalTriggers(m_dmaHandle);
   }
 
+  /**
+   * Starts DMA Collection.
+   *
+   * @param queueDepth The number of objects to be able to queue.
+   */
   public void start(int queueDepth) {
     DMAJNI.startDMA(m_dmaHandle, queueDepth);
   }
 
+  /** Stops DMA Collection. */
   public void stop() {
     DMAJNI.stopDMA(m_dmaHandle);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/DMASample.java

@@ -7,7 +7,9 @@ package edu.wpi.first.wpilibj;
 import edu.wpi.first.hal.AnalogJNI;
 import edu.wpi.first.hal.DMAJNISample;
 
+/** DMA sample. */
 public class DMASample {
+  /** DMA read status. */
   public enum DMAReadStatus {
     /** OK status. */
     kOk(1),
@@ -22,6 +24,11 @@ public class DMASample {
       this.value = value;
     }
 
+    /**
+     * Returns the DMAReadStatus value.
+     *
+     * @return The DMAReadStatus value.
+     */
     public int getValue() {
       return value;
     }
@@ -47,39 +54,77 @@ public class DMASample {
   /** Default constructor. */
   public DMASample() {}
 
+  /**
+   * Retrieves a new DMA sample.
+   *
+   * @param dma DMA object.
+   * @param timeoutSeconds Timeout in seconds for retrieval.
+   * @return DMA read status.
+   */
   public DMAReadStatus update(DMA dma, double timeoutSeconds) {
     return DMAReadStatus.getValue(m_dmaSample.update(dma.m_dmaHandle, timeoutSeconds));
   }
 
-  public int getCaptureSize() {
-    return m_dmaSample.getCaptureSize();
-  }
-
-  public int getTriggerChannels() {
-    return m_dmaSample.getTriggerChannels();
-  }
-
-  public int getRemaining() {
-    return m_dmaSample.getRemaining();
-  }
-
+  /**
+   * Returns the DMA sample time in microseconds.
+   *
+   * @return The DMA sample time in microseconds.
+   */
   public long getTime() {
     return m_dmaSample.getTime();
   }
 
+  /**
+   * Returns the DMA sample timestamp in seconds.
+   *
+   * @return The DMA sample timestamp in seconds.
+   */
   public double getTimeStamp() {
     return getTime() * 1.0e-6;
   }
 
+  /**
+   * Returns the DMA sample capture size.
+   *
+   * @return The DMA sample capture size.
+   */
+  public int getCaptureSize() {
+    return m_dmaSample.getCaptureSize();
+  }
+
+  /**
+   * Returns the number of DMA trigger channels.
+   *
+   * @return The number of DMA trigger channels.
+   */
+  public int getTriggerChannels() {
+    return m_dmaSample.getTriggerChannels();
+  }
+
+  /**
+   * Returns the number of remaining samples.
+   *
+   * @return The number of remaining samples.
+   */
+  public int getRemaining() {
+    return m_dmaSample.getRemaining();
+  }
+
+  /**
+   * Returns raw encoder value from DMA.
+   *
+   * @param encoder Encoder used for DMA.
+   * @return Raw encoder value from DMA.
+   */
   public int getEncoderRaw(Encoder encoder) {
     return m_dmaSample.getEncoder(encoder.m_encoder);
   }
 
   /**
-   * Gets the scaled encoder distance for this sample.
+   * Returns encoder distance from DMA.
    *
-   * @param encoder the encoder to use to read
-   * @return the distance
+   * @param encoder Encoder used for DMA.
+   * @return Encoder distance from DMA.
    */
   public double getEncoderDistance(Encoder encoder) {
     double val = getEncoderRaw(encoder);
@@ -88,43 +133,103 @@ public class DMASample {
     return val;
   }
 
+  /**
+   * Returns raw encoder period from DMA.
+   *
+   * @param encoder Encoder used for DMA.
+   * @return Raw encoder period from DMA.
+   */
   public int getEncoderPeriodRaw(Encoder encoder) {
     return m_dmaSample.getEncoderPeriod(encoder.m_encoder);
   }
 
+  /**
+   * Returns counter value from DMA.
+   *
+   * @param counter Counter used for DMA.
+   * @return Counter value from DMA.
+   */
   public int getCounter(Counter counter) {
     return m_dmaSample.getCounter(counter.m_counter);
   }
 
+  /**
+   * Returns counter period from DMA.
+   *
+   * @param counter Counter used for DMA.
+   * @return Counter period from DMA.
+   */
   public int getCounterPeriod(Counter counter) {
     return m_dmaSample.getCounterPeriod(counter.m_counter);
   }
 
+  /**
+   * Returns digital source value from DMA.
+   *
+   * @param digitalSource DigitalSource used for DMA.
+   * @return DigitalSource value from DMA.
+   */
   public boolean getDigitalSource(DigitalSource digitalSource) {
     return m_dmaSample.getDigitalSource(digitalSource.getPortHandleForRouting());
   }
 
+  /**
+   * Returns raw analog input value from DMA.
+   *
+   * @param analogInput AnalogInput used for DMA.
+   * @return Raw analog input value from DMA.
+   */
   public int getAnalogInputRaw(AnalogInput analogInput) {
     return m_dmaSample.getAnalogInput(analogInput.m_port);
   }
 
+  /**
+   * Returns analog input voltage from DMA.
+   *
+   * @param analogInput AnalogInput used for DMA.
+   * @return Analog input voltage from DMA.
+   */
   public double getAnalogInputVoltage(AnalogInput analogInput) {
     return AnalogJNI.getAnalogValueToVolts(analogInput.m_port, getAnalogInputRaw(analogInput));
   }
 
+  /**
+   * Returns averaged raw analog input value from DMA.
+   *
+   * @param analogInput AnalogInput used for DMA.
+   * @return Averaged raw analog input value from DMA.
+   */
   public int getAveragedAnalogInputRaw(AnalogInput analogInput) {
     return m_dmaSample.getAnalogInputAveraged(analogInput.m_port);
   }
 
+  /**
+   * Returns averaged analog input voltage from DMA.
+   *
+   * @param analogInput AnalogInput used for DMA.
+   * @return Averaged analog input voltage from DMA.
+   */
   public double getAveragedAnalogInputVoltage(AnalogInput analogInput) {
     return AnalogJNI.getAnalogValueToVolts(
         analogInput.m_port, getAveragedAnalogInputRaw(analogInput));
   }
 
+  /**
+   * Returns raw duty cycle output from DMA.
+   *
+   * @param dutyCycle DutyCycle used for DMA.
+   * @return Raw duty cycle output from DMA.
+   */
   public int getDutyCycleOutputRaw(DutyCycle dutyCycle) {
     return m_dmaSample.getDutyCycleOutput(dutyCycle.m_handle);
   }
 
+  /**
+   * Returns duty cycle output (0-1) from DMA.
+   *
+   * @param dutyCycle DutyCycle used for DMA.
+   * @return Duty cycle output (0-1) from DMA.
+   */
   public double getDutyCycleOutput(DutyCycle dutyCycle) {
     return m_dmaSample.getDutyCycleOutput(dutyCycle.m_handle)
         / (double) dutyCycle.getOutputScaleFactor();

wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -1321,10 +1321,20 @@ public final class DriverStation {
     }
   }
 
+  /**
+   * Registers the given handle for DS data refresh notifications.
+   *
+   * @param handle The event handle.
+   */
   public static void provideRefreshedDataEventHandle(int handle) {
     m_refreshEvents.add(handle);
   }
 
+  /**
+   * Unregisters the given handle from DS data refresh notifications.
+   *
+   * @param handle The event handle.
+   */
   public static void removeRefreshedDataEventHandle(int handle) {
     m_refreshEvents.remove(handle);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java

@@ -103,6 +103,11 @@ public class DutyCycle implements Sendable, AutoCloseable {
     return DutyCycleJNI.getFPGAIndex(m_handle);
   }
 
+  /**
+   * Get the channel of the source.
+   *
+   * @return the source channel
+   */
   public int getSourceChannel() {
     return m_source.getChannel();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -40,6 +40,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
     /** Reset on rising edge of the signal. */
     kResetOnRisingEdge(3);
 
+    /** IndexingType value. */
     public final int value;
 
     IndexingType(int value) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java

@@ -66,6 +66,7 @@ public class GenericHID {
     /** HID1stPerson. */
     kHID1stPerson(24);
 
+    /** HIDType value. */
     public final int value;
 
     @SuppressWarnings("PMD.UseConcurrentHashMap")
@@ -81,6 +82,12 @@ public class GenericHID {
       }
     }
 
+    /**
+     * Creates an HIDType with the given value.
+     *
+     * @param value HIDType's value.
+     * @return HIDType with the given value.
+     */
     public static HIDType of(int value) {
       return map.get(value);
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java

@@ -30,6 +30,7 @@ public class I2C implements AutoCloseable {
     /** MXP (roboRIO MXP) I2C port. */
     kMXP(1);
 
+    /** Port value. */
     public final int value;
 
     Port(int value) {
@@ -61,10 +62,20 @@ public class I2C implements AutoCloseable {
     HAL.report(tResourceType.kResourceType_I2C, deviceAddress);
   }
 
+  /**
+   * Returns I2C port.
+   *
+   * @return I2C port.
+   */
   public int getPort() {
     return m_port;
   }
 
+  /**
+   * Returns I2C device address.
+   *
+   * @return I2C device address.
+   */
   public int getDeviceAddress() {
     return m_deviceAddress;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java

@@ -288,6 +288,7 @@ public abstract class IterativeRobotBase extends RobotBase {
     return m_period;
   }
 
+  /** Loop function. */
   protected void loopFunc() {
     DriverStation.refreshData();
     m_watchdog.reset();

wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java

@@ -17,10 +17,19 @@ import edu.wpi.first.wpilibj.event.EventLoop;
  * and the mapping of ports to hardware buttons depends on the code in the Driver Station.
  */
 public class Joystick extends GenericHID {
+  /** Default X axis channel. */
   public static final byte kDefaultXChannel = 0;
+
+  /** Default Y axis channel. */
   public static final byte kDefaultYChannel = 1;
+
+  /** Default Z axis channel. */
   public static final byte kDefaultZChannel = 2;
+
+  /** Default twist axis channel. */
   public static final byte kDefaultTwistChannel = 2;
+
+  /** Default throttle axis channel. */
   public static final byte kDefaultThrottleChannel = 3;
 
   /** Represents an analog axis on a joystick. */
@@ -36,6 +45,7 @@ public class Joystick extends GenericHID {
     /** Throttle axis. */
     kThrottle(4);
 
+    /** AxisType value. */
     public final int value;
 
     AxisType(int value) {
@@ -50,6 +60,7 @@ public class Joystick extends GenericHID {
     /** kTop. */
     kTop(2);
 
+    /** ButtonType value. */
     public final int value;
 
     ButtonType(int value) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java

@@ -186,7 +186,13 @@ public abstract class MotorSafety {
     }
   }
 
+  /** Called to stop the motor when the timeout expires. */
   public abstract void stopMotor();
 
+  /**
+   * Returns a description to print when an error occurs.
+   *
+   * @return Description to print when an error occurs.
+   */
   public abstract String getDescription();
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PS4Controller.java

@@ -63,6 +63,7 @@ public class PS4Controller extends GenericHID {
     /** Touchpad click button. */
     kTouchpad(14);
 
+    /** Button value. */
     public final int value;
 
     Button(int index) {
@@ -102,6 +103,7 @@ public class PS4Controller extends GenericHID {
     /** Right Trigger 2. */
     kR2(4);
 
+    /** Axis value. */
     public final int value;
 
     Axis(int index) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/PS5Controller.java

@@ -60,6 +60,7 @@ public class PS5Controller extends GenericHID {
     /** Touchpad click button. */
     kTouchpad(14);
 
+    /** Button value. */
     public final int value;
 
     Button(int index) {
@@ -99,6 +100,7 @@ public class PS5Controller extends GenericHID {
     /** Right Trigger 2. */
     kR2(4);
 
+    /** Axis value. */
     public final int value;
 
     Axis(int index) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java

@@ -229,6 +229,7 @@ public class PWM implements Sendable, AutoCloseable {
     }
   }
 
+  /** Latches PWM to zero. */
   public void setZeroLatch() {
     PWMJNI.latchPWMZero(m_handle);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsBase.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
+/** Interface for pneumatics devices. */
 public interface PneumaticsBase extends AutoCloseable {
   /**
    * For internal use to get a module for a specific type.

wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsControlModule.java

@@ -186,10 +186,23 @@ public class PneumaticsControlModule implements PneumaticsBase {
     return CTREPCMJNI.getSolenoidDisabledList(m_handle);
   }
 
+  /**
+   * Returns whether the solenoid is currently reporting a voltage fault.
+   *
+   * @return True if solenoid is reporting a fault, otherwise false.
+   * @see #getSolenoidVoltageStickyFault()
+   */
   public boolean getSolenoidVoltageFault() {
     return CTREPCMJNI.getSolenoidVoltageFault(m_handle);
   }
 
+  /**
+   * Returns whether the solenoid has reported a voltage fault since sticky faults were last
+   * cleared. This fault is persistent and can be cleared by ClearAllStickyFaults()
+   *
+   * @return True if solenoid is reporting a fault, otherwise false.
+   * @see #getSolenoidVoltageFault()
+   */
   public boolean getSolenoidVoltageStickyFault() {
     return CTREPCMJNI.getSolenoidVoltageStickyFault(m_handle);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsModuleType.java

@@ -4,7 +4,10 @@
 
 package edu.wpi.first.wpilibj;
 
+/** Pneumatics module type. */
 public enum PneumaticsModuleType {
+  /** CTRE PCM. */
   CTREPCM,
+  /** REV PH. */
   REVPH
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java

@@ -22,6 +22,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
   private final int m_handle;
   private final int m_module;
 
+  /** Default module number. */
   public static final int kDefaultModule = PowerDistributionJNI.DEFAULT_MODULE;
 
   /** Power distribution module type. */
@@ -31,6 +32,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
     /** REV Power Distribution Hub (PDH). */
     kRev(PowerDistributionJNI.REV_TYPE);
 
+    /** ModuleType value. */
     public final int value;
 
     ModuleType(int value) {
@@ -187,14 +189,29 @@ public class PowerDistribution implements Sendable, AutoCloseable {
     PowerDistributionJNI.setSwitchableChannel(m_handle, enabled);
   }
 
+  /**
+   * Returns the power distribution version number.
+   *
+   * @return The power distribution version number.
+   */
   public PowerDistributionVersion getVersion() {
     return PowerDistributionJNI.getVersion(m_handle);
   }
 
+  /**
+   * Returns the power distribution faults.
+   *
+   * @return The power distribution faults.
+   */
   public PowerDistributionFaults getFaults() {
     return PowerDistributionJNI.getFaults(m_handle);
   }
 
+  /**
+   * Returns the power distribution sticky faults.
+   *
+   * @return The power distribution sticky faults.
+   */
   public PowerDistributionStickyFaults getStickyFaults() {
     return PowerDistributionJNI.getStickyFaults(m_handle);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java

@@ -59,10 +59,21 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
       m_prettyValue = prettyValue;
     }
 
+    /**
+     * Returns the pretty string representation of the value.
+     *
+     * @return The pretty string representation of the value.
+     */
     public String getPrettyValue() {
       return m_prettyValue;
     }
 
+    /**
+     * Returns the value for a given pretty string.
+     *
+     * @param value The pretty string.
+     * @return The value or an empty optional if there is no corresponding value.
+     */
     public static Optional<Value> getValueOf(String value) {
       return Arrays.stream(Value.values()).filter(v -> v.m_prettyValue.equals(value)).findFirst();
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -178,6 +178,11 @@ public abstract class RobotBase implements AutoCloseable {
     Shuffleboard.disableActuatorWidgets();
   }
 
+  /**
+   * Returns the main thread ID.
+   *
+   * @return The main thread ID.
+   */
   public static long getMainThreadId() {
     return m_threadId;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotState.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
+/** Robot state utility functions. */
 public final class RobotState {
   /**
    * Returns true if the robot is disabled.

wpilibj/src/main/java/edu/wpi/first/wpilibj/RuntimeType.java

@@ -6,14 +6,16 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.HALUtil;
 
+/** Runtime type. */
 public enum RuntimeType {
-  /** RoboRio 1.0. */
+  /** roboRIO 1.0. */
   kRoboRIO(HALUtil.RUNTIME_ROBORIO),
-  /** RoboRio 2.0. */
+  /** roboRIO 2.0. */
   kRoboRIO2(HALUtil.RUNTIME_ROBORIO2),
   /** Simulation runtime. */
   kSimulation(HALUtil.RUNTIME_SIMULATION);
 
+  /** RuntimeType value. */
   public final int value;
 
   RuntimeType(int value) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java

@@ -27,6 +27,7 @@ public class SPI implements AutoCloseable {
     /** MXP (roboRIO MXP) SPI bus port. */
     kMXP(SPIJNI.MXP_PORT);
 
+    /** SPI port value. */
     public final int value;
 
     Port(int value) {
@@ -45,6 +46,7 @@ public class SPI implements AutoCloseable {
     /** Clock idle high, data sampled on rising edge. */
     kMode3(SPIJNI.SPI_MODE3);
 
+    /** SPI mode value. */
     public final int value;
 
     Mode(int value) {
@@ -71,6 +73,11 @@ public class SPI implements AutoCloseable {
     HAL.report(tResourceType.kResourceType_SPI, port.value + 1);
   }
 
+  /**
+   * Returns the SPI port value.
+   *
+   * @return SPI port value.
+   */
   public int getPort() {
     return m_port;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/SensorUtil.java

@@ -47,8 +47,10 @@ public final class SensorUtil {
   /** Number of PCM Modules. */
   public static final int kCTREPCMModules = PortsJNI.getNumCTREPCMModules();
 
+  /** Number of power distribution channels per PH. */
   public static final int kREVPHChannels = PortsJNI.getNumREVPHChannels();
 
+  /** Number of PH modules. */
   public static final int kREVPHModules = PortsJNI.getNumREVPHModules();
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java

@@ -26,6 +26,7 @@ public class SerialPort implements AutoCloseable {
     /** USB serial port 2. */
     kUSB2(3);
 
+    /** Port value. */
     public final int value;
 
     Port(int value) {
@@ -46,6 +47,7 @@ public class SerialPort implements AutoCloseable {
     /** Parity bit always off. */
     kSpace(4);
 
+    /** Parity value. */
     public final int value;
 
     Parity(int value) {
@@ -62,6 +64,7 @@ public class SerialPort implements AutoCloseable {
     /** Two stop bits. */
     kTwo(20);
 
+    /** StopBits value. */
     public final int value;
 
     StopBits(int value) {
@@ -80,6 +83,7 @@ public class SerialPort implements AutoCloseable {
     /** DTS/DSR flow control. */
     kDtsDsr(4);
 
+    /** FlowControl value. */
     public final int value;
 
     FlowControl(int value) {
@@ -94,6 +98,7 @@ public class SerialPort implements AutoCloseable {
     /** Flush the buffer when it is full. */
     kFlushWhenFull(2);
 
+    /** WriteBufferMode value. */
     public final int value;
 
     WriteBufferMode(int value) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java

@@ -23,10 +23,10 @@ public class Servo extends PWM {
   private static final int kDefaultMinServoPWM = 600;
 
   /**
-   * Constructor.<br>
+   * Constructor.
    *
-   * <p>By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
-   * By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
+   * <p>By default, {@value #kDefaultMaxServoPWM} ms is used as the max PWM value and {@value
+   * #kDefaultMinServoPWM} ms is used as the minPWM value.
    *
    * @param channel The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on
    *     the MXP port

wpilibj/src/main/java/edu/wpi/first/wpilibj/StadiaController.java

@@ -50,6 +50,7 @@ public class StadiaController extends GenericHID {
     /** Frame button. */
     kFrame(15);
 
+    /** Button value. */
     public final int value;
 
     Button(int value) {
@@ -85,6 +86,7 @@ public class StadiaController extends GenericHID {
     /** Right Y axis. */
     kRightY(4);
 
+    /** Axis value. */
     public final int value;
 
     Axis(int value) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java

@@ -32,6 +32,7 @@ public class SynchronousInterrupt implements AutoCloseable {
     /** Both rising and falling edge events. */
     kBoth(0x101);
 
+    /** WaitResult value. */
     public final int value;
 
     WaitResult(int value) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/Threads.java

@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.hal.ThreadsJNI;
 
+/** Thread utility functions. */
 public final class Threads {
   /**
    * Get the thread priority for the current thread.

wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java

@@ -65,6 +65,7 @@ public class TimedRobot extends IterativeRobotBase {
     }
   }
 
+  /** Default loop period. */
   public static final double kDefaultPeriod = 0.02;
 
   // The C pointer to the notifier object. We don't use it directly, it is

wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java

@@ -108,6 +108,11 @@ public class Ultrasonic implements Sendable, AutoCloseable {
     SendableRegistry.addLW(this, "Ultrasonic", m_echoChannel.getChannel());
   }
 
+  /**
+   * Returns the echo channel.
+   *
+   * @return The echo channel.
+   */
   public int getEchoChannel() {
     return m_echoChannel.getChannel();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/EdgeConfiguration.java

@@ -15,9 +15,11 @@ public enum EdgeConfiguration {
   /** Both rising and falling edge configuration. */
   kBoth(true, true);
 
+  /** True if triggering on rising edge. */
   @SuppressWarnings("MemberName")
   public final boolean rising;
 
+  /** True if triggering on falling edge. */
   @SuppressWarnings("MemberName")
   public final boolean falling;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java

@@ -71,7 +71,10 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
    */
   @SuppressWarnings("MemberName")
   public static class WheelSpeeds {
+    /** Left wheel speed. */
     public double left;
+
+    /** Right wheel speed. */
     public double right;
 
     /** Constructs a WheelSpeeds with zeroes for left and right speeds. */

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java

@@ -77,9 +77,16 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
    */
   @SuppressWarnings("MemberName")
   public static class WheelSpeeds {
+    /** Front-left wheel speed. */
     public double frontLeft;
+
+    /** Front-right wheel speed. */
     public double frontRight;
+
+    /** Rear-left wheel speed. */
     public double rearLeft;
+
+    /** Rear-right wheel speed. */
     public double rearRight;
 
     /** Constructs a WheelSpeeds with zeroes for all four speeds. */

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/RobotDriveBase.java

@@ -12,10 +12,16 @@ import edu.wpi.first.wpilibj.MotorSafety;
  * <p>{@link edu.wpi.first.wpilibj.MotorSafety} is enabled by default.
  */
 public abstract class RobotDriveBase extends MotorSafety {
+  /** Default input deadband. */
   public static final double kDefaultDeadband = 0.02;
+
+  /** Default maximum output. */
   public static final double kDefaultMaxOutput = 1.0;
 
+  /** Input deadband. */
   protected double m_deadband = kDefaultDeadband;
+
+  /** Maximum output. */
   protected double m_maxOutput = kDefaultMaxOutput;
 
   /** The location of a motor on the robot for the purpose of driving. */
@@ -35,6 +41,7 @@ public abstract class RobotDriveBase extends MotorSafety {
     /** Back motor. */
     kBack(2);
 
+    /** MotorType value. */
     public final int value;
 
     MotorType(int value) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/internal/DriverStationModeThread.java

@@ -9,9 +9,7 @@ import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.wpilibj.DriverStation;
 import java.util.concurrent.atomic.AtomicBoolean;
 
-/*
- * For internal use only.
- */
+/** For internal use only. */
 public class DriverStationModeThread implements AutoCloseable {
   private final AtomicBoolean m_keepAlive = new AtomicBoolean();
   private final Thread m_thread;

wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java

@@ -67,14 +67,29 @@ public final class LiveWindow {
     throw new UnsupportedOperationException("This is a utility class!");
   }
 
+  /**
+   * Sets function to be called when LiveWindow is enabled.
+   *
+   * @param runnable function (or null for none)
+   */
   public static synchronized void setEnabledListener(Runnable runnable) {
     enabledListener = runnable;
   }
 
+  /**
+   * Sets function to be called when LiveWindow is disabled.
+   *
+   * @param runnable function (or null for none)
+   */
   public static synchronized void setDisabledListener(Runnable runnable) {
     disabledListener = runnable;
   }
 
+  /**
+   * Returns true if LiveWindow is enabled.
+   *
+   * @return True if LiveWindow is enabled.
+   */
   public static synchronized boolean isEnabled() {
     return liveWindowEnabled;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroup.java

@@ -37,6 +37,11 @@ public class MotorControllerGroup implements MotorController, Sendable, AutoClos
     init();
   }
 
+  /**
+   * Create a new MotorControllerGroup with the provided MotorControllers.
+   *
+   * @param motorControllers The MotorControllers to add.
+   */
   @SuppressWarnings("this-escape")
   public MotorControllerGroup(MotorController[] motorControllers) {
     m_motorControllers = Arrays.copyOf(motorControllers, motorControllers.length);

wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java

@@ -17,6 +17,8 @@ public abstract class PWMMotorController extends MotorSafety
     implements MotorController, Sendable, AutoCloseable {
   private boolean m_isInverted;
   private final ArrayList<PWMMotorController> m_followers = new ArrayList<>();
+
+  /** PWM instances for motor controller. */
   protected PWM m_pwm;
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/EventImportance.java

@@ -38,6 +38,11 @@ public enum EventImportance {
     m_simpleName = simpleName;
   }
 
+  /**
+   * Returns name of the given enum.
+   *
+   * @return Name of the given enum.
+   */
   public String getSimpleName() {
     return m_simpleName;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java

@@ -74,7 +74,7 @@ public final class SendableCameraWrapper implements Sendable, AutoCloseable {
     }
   }
 
-  /*
+  /**
    * Sets NetworkTable instance used for camera publisher entries.
    *
    * @param inst NetworkTable instance

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardComponent.java

@@ -26,25 +26,53 @@ public abstract class ShuffleboardComponent<C extends ShuffleboardComponent<C>>
   private int m_width = -1;
   private int m_height = -1;
 
+  /**
+   * Constructs a ShuffleboardComponent.
+   *
+   * @param parent The parent container.
+   * @param title The component title.
+   * @param type The component type.
+   */
   protected ShuffleboardComponent(ShuffleboardContainer parent, String title, String type) {
     m_parent = requireNonNullParam(parent, "parent", "ShuffleboardComponent");
     m_title = requireNonNullParam(title, "title", "ShuffleboardComponent");
     m_type = type;
   }
 
+  /**
+   * Constructs a ShuffleboardComponent.
+   *
+   * @param parent The parent container.
+   * @param title The component title.
+   */
   protected ShuffleboardComponent(ShuffleboardContainer parent, String title) {
     this(parent, title, null);
   }
 
+  /**
+   * Returns the parent container.
+   *
+   * @return The parent container.
+   */
   public final ShuffleboardContainer getParent() {
     return m_parent;
   }
 
+  /**
+   * Sets the component type.
+   *
+   * @param type The component type.
+   */
   protected final void setType(String type) {
     m_type = type;
     m_metadataDirty = true;
   }
 
+  /**
+   * Returns the component type.
+   *
+   * @return The component type.
+   */
   public final String getType() {
     return m_type;
   }
@@ -109,6 +137,11 @@ public abstract class ShuffleboardComponent<C extends ShuffleboardComponent<C>>
     return (C) this;
   }
 
+  /**
+   * Builds NT metadata.
+   *
+   * @param metaTable The NT metadata table.
+   */
   protected final void buildMetadata(NetworkTable metaTable) {
     if (!m_metadataDirty) {
       return;

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java

@@ -301,6 +301,13 @@ public class DifferentialDrivetrainSim {
     m_x.set(State.kRightPosition.value, 0, 0);
   }
 
+  /**
+   * The differential drive dynamics function.
+   *
+   * @param x The state.
+   * @param u The input.
+   * @return The state derivative with respect to time.
+   */
   protected Matrix<N7, N1> getDynamics(Matrix<N7, N1> x, Matrix<N2, N1> u) {
     // Because G can be factored out of B, we can divide by the old ratio and multiply
     // by the new ratio to get a new drivetrain model.
@@ -380,6 +387,7 @@ public class DifferentialDrivetrainSim {
     /** Gear ratio of 5.95:1. */
     k5p95(5.95);
 
+    /** KitbotGearing value. */
     public final double value;
 
     KitbotGearing(double i) {
@@ -406,6 +414,7 @@ public class DifferentialDrivetrainSim {
     /** Two NEO motors per drive side. */
     kDoubleNEOPerSide(DCMotor.getNEO(2));
 
+    /** KitbotMotor value. */
     public final DCMotor value;
 
     KitbotMotor(DCMotor i) {
@@ -422,6 +431,7 @@ public class DifferentialDrivetrainSim {
     /** Ten inch diameter wheels. */
     kTenInch(Units.inchesToMeters(10));
 
+    /** KitbotWheelSize value. */
     public final double value;
 
     KitbotWheelSize(double i) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java

@@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj.GenericHID;
 
 /** Class to control a simulated generic joystick. */
 public class GenericHIDSim {
+  /** GenericHID port. */
   protected final int m_port;
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java

@@ -28,16 +28,19 @@ import org.ejml.simple.SimpleMatrix;
  * @param <Outputs> Number of outputs of the system.
  */
 public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs extends Num> {
-  // The plant that represents the linear system.
+  /** The plant that represents the linear system. */
   protected final LinearSystem<States, Inputs, Outputs> m_plant;
 
-  // Variables for state, output, and input.
+  /** State vector. */
   protected Matrix<States, N1> m_x;
-  protected Matrix<Outputs, N1> m_y;
+
+  /** Input vector. */
   protected Matrix<Inputs, N1> m_u;
 
-  // The standard deviations of measurements, used for adding noise
-  // to the measurements.
+  /** Output vector. */
+  protected Matrix<Outputs, N1> m_y;
+
+  /** The standard deviations of measurements, used for adding noise to the measurements. */
   protected final Matrix<Outputs, N1> m_measurementStdDevs;
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PneumaticsBaseSim.java

@@ -10,6 +10,7 @@ import edu.wpi.first.wpilibj.PneumaticsModuleType;
 
 /** Common base class for pneumatics module simulation classes. */
 public abstract class PneumaticsBaseSim {
+  /** PneumaticsBase index. */
   protected final int m_index;
 
   /**
@@ -30,10 +31,20 @@ public abstract class PneumaticsBaseSim {
     }
   }
 
+  /**
+   * Constructs a PneumaticsBaseSim with the given index.
+   *
+   * @param index The index.
+   */
   protected PneumaticsBaseSim(int index) {
     m_index = index;
   }
 
+  /**
+   * Constructs a PneumaticsBaseSim for the given module.
+   *
+   * @param module The module.
+   */
   protected PneumaticsBaseSim(PneumaticsBase module) {
     this(module.getModuleNumber());
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SPISim.java

@@ -74,6 +74,13 @@ public class SPISim {
     return new CallbackStore(m_index, uid, SPIDataJNI::cancelWriteCallback);
   }
 
+  /**
+   * Register a callback to be run whenever an auto receive buffer is received.
+   *
+   * @param callback the callback
+   * @return the {@link CallbackStore} object associated with this callback. Save a reference to
+   *     this object so GC doesn't cancel the callback.
+   */
   public CallbackStore registerReadAutoReceiveBufferCallback(
       SpiReadAutoReceiveBufferCallback callback) {
     int uid = SPIDataJNI.registerReadAutoReceiveBufferCallback(m_index, callback);

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java

@@ -19,14 +19,21 @@ public final class SimHooks {
     SimulatorJNI.setRuntimeType(type);
   }
 
+  /** Waits until the user program has started. */
   public static void waitForProgramStart() {
     SimulatorJNI.waitForProgramStart();
   }
 
+  /** Sets that the user program has started. */
   public static void setProgramStarted() {
     SimulatorJNI.setProgramStarted();
   }
 
+  /**
+   * Returns true if the user program has started.
+   *
+   * @return True if the user program has started.
+   */
   public static boolean getProgramStarted() {
     return SimulatorJNI.getProgramStarted();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/UltrasonicSim.java

@@ -36,14 +36,29 @@ public class UltrasonicSim {
     m_simRange = simDevice.getDouble("Range (in)");
   }
 
+  /**
+   * Sets if the range measurement is valid.
+   *
+   * @param valid True if valid
+   */
   public void setRangeValid(boolean valid) {
     m_simRangeValid.set(valid);
   }
 
+  /**
+   * Sets the range measurement.
+   *
+   * @param inches The range in inches.
+   */
   public void setRangeInches(double inches) {
     m_simRange.set(inches);
   }
 
+  /**
+   * Sets the range measurement.
+   *
+   * @param meters The range in meters.
+   */
   public void setRangeMeters(double meters) {
     m_simRange.set(Units.metersToInches(meters));
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismObject2d.java

@@ -74,6 +74,11 @@ public abstract class MechanismObject2d implements AutoCloseable {
    */
   protected abstract void updateEntries(NetworkTable table);
 
+  /**
+   * Retrieve the object's name.
+   *
+   * @return the object's name relative to its parent.
+   */
   public final String getName() {
     return m_name;
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java

@@ -57,6 +57,7 @@ import java.util.function.LongConsumer;
 import java.util.function.LongSupplier;
 import java.util.function.Supplier;
 
+/** Implementation detail for SendableBuilder. */
 @SuppressWarnings("PMD.CompareObjectsWithEquals")
 public class SendableBuilderImpl implements NTSendableBuilder {
   @FunctionalInterface