[doc] Add missing pneumatics docs (NFC) (#5389)

Add missing HAL docs for PCM and PH
Fix references to PCM
Document different one shot durations for PCM and PH

hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.hal;
 
+/** REV Pneumatic Hub (PH) HAL JNI functions. */
 public class REVPHJNI extends JNIWrapper {
   public static final int COMPRESSOR_CONFIG_TYPE_DISABLED = 0;
   public static final int COMPRESSOR_CONFIG_TYPE_DIGITAL = 1;

hal/src/main/native/include/hal/CTREPCM.h

@@ -9,7 +9,7 @@
 #include "hal/Types.h"
 
 /**
- * @defgroup hal_ctre_pcm CTRE PCM Functions
+ * @defgroup hal_ctre_pcm CTRE Pneumatic Control Module (PCM) Functions
  * @ingroup hal_capi
  * @{
  */
@@ -18,51 +18,232 @@
 extern "C" {
 #endif
 
+/**
+ * Initializes a PCM.
+ *
+ * @param[in] module             the CAN ID to initialize
+ * @param[in] allocationLocation the location where the allocation is occurring
+ *                               (can be null)
+ * @param[out] status            Error status variable. 0 on success.
+ * @return the created PH handle
+ */
 HAL_CTREPCMHandle HAL_InitializeCTREPCM(int32_t module,
                                         const char* allocationLocation,
                                         int32_t* status);
+
+/**
+ * Frees a PCM handle.
+ *
+ * @param[in] handle the PCMhandle
+ */
 void HAL_FreeCTREPCM(HAL_CTREPCMHandle handle);
 
+/**
+ * Checks if a solenoid channel number is valid.
+ *
+ * @param[in] channel the channel to check
+ * @return true if the channel is valid, otherwise false
+ */
 HAL_Bool HAL_CheckCTREPCMSolenoidChannel(int32_t channel);
 
+/**
+ * Get whether compressor is turned on.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return true if the compressor is turned on
+ */
 HAL_Bool HAL_GetCTREPCMCompressor(HAL_CTREPCMHandle handle, int32_t* status);
+
+/**
+ * Enables the compressor closed loop control using the digital pressure switch.
+ * The compressor will turn on when the pressure switch indicates that the
+ * system is not full, and will turn off when the pressure switch indicates that
+ * the system is full.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[in] enabled true to enable closed loop control
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_SetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle, HAL_Bool enabled,
                                      int32_t* status);
+
+/**
+ * Get whether the PCM closed loop control is enabled.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if closed loop control is enabled, otherwise false.
+ */
 HAL_Bool HAL_GetCTREPCMClosedLoopControl(HAL_CTREPCMHandle handle,
                                          int32_t* status);
+
+/**
+ * Returns the state of the pressure switch.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if pressure switch indicates that the system is full,
+ * otherwise false.
+ */
 HAL_Bool HAL_GetCTREPCMPressureSwitch(HAL_CTREPCMHandle handle,
                                       int32_t* status);
+
+/**
+ * Returns the current drawn by the compressor.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return The current drawn by the compressor in amps.
+ */
 double HAL_GetCTREPCMCompressorCurrent(HAL_CTREPCMHandle handle,
                                        int32_t* status);
 
+/**
+ * Return whether the compressor current is currently too high.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if the compressor current is too high, otherwise false.
+ * @see HAL_GetCTREPCMCompressorShortedStickyFault
+ */
 HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighFault(HAL_CTREPCMHandle handle,
                                                      int32_t* status);
+
+/**
+ * Returns whether the compressor current has been too high since sticky
+ * faults were last cleared. This fault is persistent and can be cleared by
+ * HAL_ClearAllCTREPCMStickyFaults()
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if the compressor current has been too high since sticky
+ * faults were last cleared.
+ * @see HAL_GetCTREPCMCompressorCurrentTooHighFault()
+ */
 HAL_Bool HAL_GetCTREPCMCompressorCurrentTooHighStickyFault(
     HAL_CTREPCMHandle handle, int32_t* status);
+
+/**
+ * Returns whether the compressor has been shorted since sticky faults were
+ * last cleared. This fault is persistent and can be cleared by
+ * HAL_ClearAllCTREPCMStickyFaults()
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if the compressor has been shorted since sticky faults were
+ * last cleared, otherwise false.
+ * @see HAL_GetCTREPCMCompressorShortedFault()
+ */
 HAL_Bool HAL_GetCTREPCMCompressorShortedStickyFault(HAL_CTREPCMHandle handle,
                                                     int32_t* status);
+
+/**
+ * Returns whether the compressor is currently shorted.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if the compressor is currently shorted, otherwise false.
+ * @see HAL_GetCTREPCMCompressorShortedStickyFault
+ */
 HAL_Bool HAL_GetCTREPCMCompressorShortedFault(HAL_CTREPCMHandle handle,
                                               int32_t* status);
+
+/**
+ * Returns whether the compressor has been disconnected since sticky faults
+ * were last cleared. This fault is persistent and can be cleared by
+ * HAL_ClearAllCTREPCMStickyFaults()
+ *
+ * @return True if the compressor has been disconnected since sticky faults
+ * were last cleared, otherwise false.
+ * @see HAL_GetCTREPCMCompressorShortedFault()
+ */
 HAL_Bool HAL_GetCTREPCMCompressorNotConnectedStickyFault(
     HAL_CTREPCMHandle handle, int32_t* status);
+
+/**
+ * Returns whether the compressor is currently disconnected.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if compressor is currently disconnected, otherwise false.
+ * @see HAL_GetCTREPCMCompressorNotConnectedStickyFault()
+ */
 HAL_Bool HAL_GetCTREPCMCompressorNotConnectedFault(HAL_CTREPCMHandle handle,
                                                    int32_t* status);
 
+/**
+ * Gets a bitmask of solenoid values.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return solenoid values
+ */
 int32_t HAL_GetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t* status);
+
+/**
+ * Sets solenoids on a pneumatics module.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[in] mask bitmask to set
+ * @param[in] values solenoid values
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_SetCTREPCMSolenoids(HAL_CTREPCMHandle handle, int32_t mask,
                              int32_t values, int32_t* status);
 
+/**
+ * Get a bitmask of disabled solenoids.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return bitmask of disabled solenoids
+ */
 int32_t HAL_GetCTREPCMSolenoidDisabledList(HAL_CTREPCMHandle handle,
                                            int32_t* status);
+
+/**
+ * Returns whether the solenoid has reported a voltage fault since sticky faults
+ * were last cleared. This fault is persistent and can be cleared by
+ * HAL_ClearAllCTREPCMStickyFaults()
+ *
+ * @return True if solenoid is reporting a fault, otherwise false.
+ * @see HAL_GetCTREPCMSolenoidVoltageFault()
+ */
 HAL_Bool HAL_GetCTREPCMSolenoidVoltageStickyFault(HAL_CTREPCMHandle handle,
                                                   int32_t* status);
+/**
+ * Returns whether the solenoid is currently reporting a voltage fault.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if solenoid is reporting a fault, otherwise false.
+ * @see HAL_GetCTREPCMSolenoidVoltageStickyFault()
+ */
 HAL_Bool HAL_GetCTREPCMSolenoidVoltageFault(HAL_CTREPCMHandle handle,
                                             int32_t* status);
 
+/** Clears all sticky faults on this device. */
 void HAL_ClearAllCTREPCMStickyFaults(HAL_CTREPCMHandle handle, int32_t* status);
 
+/**
+ * Fire a single solenoid shot.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[in] index solenoid index
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_FireCTREPCMOneShot(HAL_CTREPCMHandle handle, int32_t index,
                             int32_t* status);
+
+/**
+ * Set the duration for a single solenoid shot.
+ *
+ * @param[in] handle  the PCM handle
+ * @param[in] index solenoid index
+ * @param[in] durMs shot duration in ms
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
                                    int32_t durMs, int32_t* status);
 

hal/src/main/native/include/hal/REVPH.h

@@ -9,7 +9,7 @@
 #include "hal/Types.h"
 
 /**
- * @defgroup hal_rev_ph REV PH Functions
+ * @defgroup hal_rev_ph REV Pneumatic Hub (PH) Functions
  * @ingroup hal_capi
  * @{
  */
@@ -91,58 +91,279 @@ struct HAL_REVPHStickyFaults {
 extern "C" {
 #endif
 
+/**
+ * Initializes a PH.
+ *
+ * @param[in] module             the CAN ID to initialize
+ * @param[in] allocationLocation the location where the allocation is occurring
+ *                               (can be null)
+ * @param[out] status            Error status variable. 0 on success.
+ * @return the created PH handle
+ */
 HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
                                     const char* allocationLocation,
                                     int32_t* status);
 
+/**
+ * Frees a PH handle.
+ *
+ * @param[in] handle the PH handle
+ */
 void HAL_FreeREVPH(HAL_REVPHHandle handle);
 
+/**
+ * Checks if a solenoid channel number is valid.
+ *
+ * @param[in] channel the channel to check
+ * @return true if the channel is valid, otherwise false
+ */
 HAL_Bool HAL_CheckREVPHSolenoidChannel(int32_t channel);
+
+/**
+ * Checks if a PH module (CAN ID) is valid.
+ *
+ * @param[in] module the module to check
+ * @return true if the module is valid, otherwise false
+ */
 HAL_Bool HAL_CheckREVPHModuleNumber(int32_t module);
 
+/**
+ * Get whether compressor is turned on.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return true if the compressor is turned on
+ */
 HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Send compressor configuration to the PH.
+ *
+ * @param[in] handle  the PH handle
+ * @param[in] config  compressor configuration
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_SetREVPHCompressorConfig(HAL_REVPHHandle handle,
                                   const HAL_REVPHCompressorConfig* config,
                                   int32_t* status);
+
+/**
+ * Disable Compressor.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_SetREVPHClosedLoopControlDisabled(HAL_REVPHHandle handle,
                                            int32_t* status);
+
+/**
+ * Enables the compressor in digital mode using the digital pressure switch. The
+ * compressor will turn on when the pressure switch indicates that the system is
+ * not full, and will turn off when the pressure switch indicates that the
+ * system is full.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_SetREVPHClosedLoopControlDigital(HAL_REVPHHandle handle,
                                           int32_t* status);
+
+/**
+ * Enables the compressor in analog mode. This mode uses an analog
+ * pressure sensor connected to analog channel 0 to cycle the compressor. The
+ * compressor will turn on when the pressure drops below minAnalogVoltage and
+ * will turn off when the pressure reaches maxAnalogVoltage. This mode is only
+ * supported by the REV PH with the REV Analog Pressure Sensor connected to
+ * analog channel 0.
+ * @param[in] handle  the PH handle
+ * @param[in] minAnalogVoltage The compressor will turn on when the analog
+ * pressure sensor voltage drops below this value
+ * @param[in] maxAnalogVoltage The compressor will turn off when the analog
+ * pressure sensor reaches this value.
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_SetREVPHClosedLoopControlAnalog(HAL_REVPHHandle handle,
                                          double minAnalogVoltage,
                                          double maxAnalogVoltage,
                                          int32_t* status);
+
+/**
+ * Enables the compressor in hybrid mode. This mode uses both a digital
+ * pressure switch and an analog pressure sensor connected to analog channel 0
+ * to cycle the compressor.
+ *
+ * The compressor will turn on when \a both:
+ *
+ * - The digital pressure switch indicates the system is not full AND
+ * - The analog pressure sensor indicates that the pressure in the system is
+ * below the specified minimum pressure.
+ *
+ * The compressor will turn off when \a either:
+ *
+ * - The digital pressure switch is disconnected or indicates that the system
+ * is full OR
+ * - The pressure detected by the analog sensor is greater than the specified
+ * maximum pressure.
+ *
+ * @param[in] handle  the PH handle
+ * @param[in] minAnalogVoltage The compressor will turn on when the analog
+ * pressure sensor voltage drops below this value and the pressure switch
+ * indicates that the system is not full.
+ * @param[in] maxAnalogVoltage The compressor will turn off when the analog
+ * pressure sensor reaches this value or the pressure switch is disconnected or
+ * indicates that the system is full.
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_SetREVPHClosedLoopControlHybrid(HAL_REVPHHandle handle,
                                          double minAnalogVoltage,
                                          double maxAnalogVoltage,
                                          int32_t* status);
+
+/**
+ * Get compressor configuration from the PH.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return compressor configuration
+ */
 HAL_REVPHCompressorConfigType HAL_GetREVPHCompressorConfig(
     HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the state of the digital pressure switch.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return True if pressure switch indicates that the system is full,
+ * otherwise false.
+ */
 HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the current drawn by the compressor.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return The current drawn by the compressor in amps.
+ */
 double HAL_GetREVPHCompressorCurrent(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the raw voltage of the specified analog
+ * input channel.
+ *
+ * @param[in] handle  the PH handle
+ * @param[in] channel The analog input channel to read voltage from.
+ * @param[out] status Error status variable. 0 on success.
+ * @return The voltage of the specified analog input channel in volts.
+ */
 double HAL_GetREVPHAnalogVoltage(HAL_REVPHHandle handle, int32_t channel,
                                  int32_t* status);
+
+/**
+ * Returns the current input voltage for the PH.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return The input voltage in volts.
+ */
 double HAL_GetREVPHVoltage(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the current voltage of the regulated 5v supply.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return The current voltage of the 5v supply in volts.
+ */
 double HAL_GetREVPH5VVoltage(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the total current drawn by all solenoids.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return Total current drawn by all solenoids in amps.
+ */
 double HAL_GetREVPHSolenoidCurrent(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the current voltage of the solenoid power supply.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return The current voltage of the solenoid power supply in volts.
+ */
 double HAL_GetREVPHSolenoidVoltage(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Returns the hardware and firmware versions of the PH.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] version The hardware and firmware versions.
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
                          int32_t* status);
 
+/**
+ * Gets a bitmask of solenoid values.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ * @return solenoid values
+ */
 int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status);
+
+/**
+ * Sets solenoids on a pneumatics module.
+ *
+ * @param[in] handle  the PH handle
+ * @param[in] mask bitmask to set
+ * @param[in] values solenoid values
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_SetREVPHSolenoids(HAL_REVPHHandle handle, int32_t mask, int32_t values,
                            int32_t* status);
 
+/**
+ * Fire a single solenoid shot for the specified duration.
+ *
+ * @param[in] handle  the PH handle
+ * @param[in] index solenoid index
+ * @param[in] durMs shot duration in ms
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_FireREVPHOneShot(HAL_REVPHHandle handle, int32_t index, int32_t durMs,
                           int32_t* status);
 
+/**
+ * Returns the faults currently active on the PH.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] faults The faults.
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_GetREVPHFaults(HAL_REVPHHandle handle, HAL_REVPHFaults* faults,
                         int32_t* status);
 
+/**
+ * Returns the sticky faults currently active on this device.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] stickyFaults The sticky faults.
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_GetREVPHStickyFaults(HAL_REVPHHandle handle,
                               HAL_REVPHStickyFaults* stickyFaults,
                               int32_t* status);
 
+/**
+ * Clears the sticky faults.
+ *
+ * @param[in] handle  the PH handle
+ * @param[out] status Error status variable. 0 on success.
+ */
 void HAL_ClearREVPHStickyFaults(HAL_REVPHHandle handle, int32_t* status);
 
 #ifdef __cplusplus

wpilibc/src/main/native/include/frc/DoubleSolenoid.h

@@ -98,7 +98,7 @@ class DoubleSolenoid : public wpi::Sendable,
    * If a solenoid is shorted, it is added to the DisabledList and disabled
    * until power cycle, or until faults are cleared.
    *
-   * @see ClearAllPCMStickyFaults()
+   * @see ClearAllStickyFaults()
    * @return If solenoid is disabled due to short.
    */
   bool IsFwdSolenoidDisabled() const;
@@ -109,7 +109,7 @@ class DoubleSolenoid : public wpi::Sendable,
    * If a solenoid is shorted, it is added to the DisabledList and disabled
    * until power cycle, or until faults are cleared.
    *
-   * @see ClearAllPCMStickyFaults()
+   * @see ClearAllStickyFaults()
    * @return If solenoid is disabled due to short.
    */
   bool IsRevSolenoidDisabled() const;

wpilibc/src/main/native/include/frc/PneumaticsBase.h

@@ -117,15 +117,15 @@ class PneumaticsBase {
   /**
    * Sets solenoids on a pneumatics module.
    *
-   * @param mask mask
+   * @param mask bitmask to set
-   * @param values values
+   * @param values solenoid values
    */
   virtual void SetSolenoids(int mask, int values) = 0;
 
   /**
    * Gets a bitmask of solenoid values.
    *
-   * @return values
+   * @return solenoid values
    */
   virtual int GetSolenoids() const = 0;
 
@@ -183,8 +183,16 @@ class PneumaticsBase {
    */
   virtual void UnreserveSolenoids(int mask) = 0;
 
+  /**
+   * Reserve the compressor.
+   *
+   * @return true if successful; false if compressor already reserved
+   */
   virtual bool ReserveCompressor() = 0;
 
+  /**
+   * Unreserve the compressor.
+   */
   virtual void UnreserveCompressor() = 0;
 
   /**
@@ -212,9 +220,29 @@ class PneumaticsBase {
    */
   virtual units::pounds_per_square_inch_t GetPressure(int channel) const = 0;
 
+  /**
+   * Create a solenoid object for the specified channel.
+   *
+   * @param channel solenoid channel
+   * @return Solenoid object
+   */
   virtual Solenoid MakeSolenoid(int channel) = 0;
+
+  /**
+   * Create a double solenoid object for the specified channels.
+   *
+   * @param forwardChannel solenoid channel for forward
+   * @param reverseChannel solenoid channel for reverse
+   * @return DoubleSolenoid object
+   */
   virtual DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
                                             int reverseChannel) = 0;
+
+  /**
+   * Create a compressor object.
+   *
+   * @return Compressor object
+   */
   virtual Compressor MakeCompressor() = 0;
 
   /**

wpilibc/src/main/native/include/frc/PneumaticsControlModule.h

@@ -118,7 +118,7 @@ class PneumaticsControlModule : public PneumaticsBase {
   /**
    * Returns whether the compressor has been disconnected since sticky faults
    * were last cleared. This fault is persistent and can be cleared by
-   * ClearAllStickyFaults()}
+   * ClearAllStickyFaults()
    *
    * @return True if the compressor has been disconnected since sticky faults
    * were last cleared, otherwise false.
@@ -126,7 +126,22 @@ class PneumaticsControlModule : public PneumaticsBase {
    */
   bool GetCompressorNotConnectedStickyFault() const;
 
+  /**
+   * Returns whether the solenoid is currently reporting a voltage fault.
+   *
+   * @return True if solenoid is reporting a fault, otherwise false.
+   * @see GetSolenoidVoltageStickyFault()
+   */
   bool GetSolenoidVoltageFault() const;
+
+  /**
+   * 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()
+   */
   bool GetSolenoidVoltageStickyFault() const;
 
   /** Clears all sticky faults on this device. */

wpilibc/src/main/native/include/frc/Solenoid.h

@@ -87,18 +87,22 @@ class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
   bool IsDisabled() const;
 
   /**
-   * Set the pulse duration in the PCM. This is used in conjunction with
+   * Set the pulse duration in the pneumatics module. This is used in
-   * the startPulse method to allow the PCM to control the timing of a pulse.
+   * conjunction with the startPulse method to allow the pneumatics module to
-   * The timing can be controlled in 0.01 second increments.
+   * control the timing of a pulse.
    *
-   * @param duration The duration of the pulse, from 0.01 to 2.55 seconds.
+   * On the PCM, the timing can be controlled in 0.01 second increments, with a
+   * maximum of 2.55 seconds. On the PH, the timing can be controlled in 0.001
+   * second increments, with a maximum of 65.534 seconds.
+   *
+   * @param duration The duration of the pulse.
    *
    * @see startPulse()
    */
   void SetPulseDuration(units::second_t duration);
 
   /**
-   * %Trigger the PCM to generate a pulse of the duration set in
+   * %Trigger the pneumatics module to generate a pulse of the duration set in
    * setPulseDuration.
    *
    * @see setPulseDuration()

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

@@ -211,16 +211,40 @@ public interface PneumaticsBase extends AutoCloseable {
    */
   void unreserveSolenoids(int mask);
 
+  /**
+   * Reserve the compressor.
+   *
+   * @return true if successful; false if compressor already reserved
+   */
   boolean reserveCompressor();
 
+  /** Unreserve the compressor. */
   void unreserveCompressor();
 
   @Override
   void close();
 
+  /**
+   * Create a solenoid object for the specified channel.
+   *
+   * @param channel solenoid channel
+   * @return Solenoid object
+   */
   Solenoid makeSolenoid(int channel);
 
+  /**
+   * Create a double solenoid object for the specified channels.
+   *
+   * @param forwardChannel solenoid channel for forward
+   * @param reverseChannel solenoid channel for reverse
+   * @return DoubleSolenoid object
+   */
   DoubleSolenoid makeDoubleSolenoid(int forwardChannel, int reverseChannel);
 
+  /**
+   * Create a compressor object.
+   *
+   * @return Compressor object
+   */
   Compressor makeCompressor();
 }

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

@@ -117,11 +117,16 @@ public class Solenoid implements Sendable, AutoCloseable {
   }
 
   /**
-   * Set the pulse duration in the PCM. This is used in conjunction with the startPulse method to
+   * Set the pulse duration in the pneumatics module. This is used in conjunction with the
-   * allow the PCM to control the timing of a pulse. The timing can be controlled in 0.01 second
+   * startPulse method to allow the pneumatics module to control the timing of a pulse.
-   * increments.
    *
-   * @param durationSeconds The duration of the pulse, from 0.01 to 2.55 seconds.
+   * <p>On the PCM, the timing can be controlled in 0.01 second increments, with a maximum of 2.55
+   * seconds.
+   *
+   * <p>On the PH, the timing can be controlled in 0.001 second increments, with a maximum of 65.534
+   * seconds.
+   *
+   * @param durationSeconds The duration of the pulse in seconds.
    * @see #startPulse()
    */
   public void setPulseDuration(double durationSeconds) {
@@ -130,7 +135,7 @@ public class Solenoid implements Sendable, AutoCloseable {
   }
 
   /**
-   * Trigger the PCM to generate a pulse of the duration set in setPulseDuration.
+   * Trigger the pneumatics module to generate a pulse of the duration set in setPulseDuration.
    *
    * @see #setPulseDuration(double)
    */