diff --git a/wpilibc/wpilibC++Devices/include/PWM.h b/wpilibc/wpilibC++Devices/include/PWM.h
index e54194e552..9464aa7019 100644
--- a/wpilibc/wpilibC++Devices/include/PWM.h
+++ b/wpilibc/wpilibC++Devices/include/PWM.h
@@ -13,16 +13,16 @@
  * Class implements the PWM generation in the FPGA.
  *
  * The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped
- * to the hardware dependent values, in this case 0-255 for the FPGA.
+ * to the hardware dependent values, in this case 0-2000 for the FPGA.
  * Changes are immediately sent to the FPGA, and the update occurs at the next
  * FPGA cycle. There is no delay.
  *
  * As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-255 values as follows:
- *   - 255 = full "forward"
- *   - 254 to 129 = linear scaling from "full forward" to "center"
- *   - 128 = center value
- *   - 127 to 2 = linear scaling from "center" to "full reverse"
- *   - 1 = full "reverse"
+ *   - 2000 = maximum pulse width
+ *   - 1999 to 1001 = linear scaling from "full forward" to "center"
+ *   - 1000 = center value
+ *   - 999 to 2 = linear scaling from "center" to "full reverse"
+ *   - 1 = minimum pulse width (currently .5ms)
  *   - 0 = disabled (i.e. PWM output is held low)
  */
 class PWM : public SensorBase, public ITableListener, public LiveWindowSendable
diff --git a/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp b/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp
index 2e5fdd560c..997cf59108 100644
--- a/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp
+++ b/wpilibc/wpilibC++Devices/src/ADXL345_I2C.cpp
@@ -17,6 +17,7 @@ constexpr double ADXL345_I2C::kGsPerLSB;
 /**
  * Constructor.
  *
+ * @param port The I2C port the accelerometer is attached to
  * @param range The range (+ or -) that the accelerometer will measure.
  */
 ADXL345_I2C::ADXL345_I2C(Port port, Range range):
@@ -84,7 +85,7 @@ double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis)
 /**
  * Get the acceleration of all axes in Gs.
  *
- * @return Acceleration measured on all axes of the ADXL345 in Gs.
+ * @return An object containing the acceleration measured on each axis of the ADXL345 in Gs.
  */
 ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations()
 {
diff --git a/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp b/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp
index ecc7de6106..77c793d660 100644
--- a/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp
+++ b/wpilibc/wpilibC++Devices/src/ADXL345_SPI.cpp
@@ -14,6 +14,13 @@ const uint8_t ADXL345_SPI::kDataFormatRegister;
 const uint8_t ADXL345_SPI::kDataRegister;
 constexpr double ADXL345_SPI::kGsPerLSB;
 
+
+/**
+ * Constructor.
+ *
+ * @param port The SPI port the accelerometer is attached to
+ * @param range The range (+ or -) that the accelerometer will measure.
+ */
 ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range)
 {
 	m_port = port;
@@ -106,7 +113,7 @@ double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis)
 /**
  * Get the acceleration of all axes in Gs.
  *
- * @return Acceleration measured on all axes of the ADXL345 in Gs.
+ * @return An object containing the acceleration measured on each axis of the ADXL345 in Gs.
  */
 ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations()
 {
diff --git a/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp b/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp
index 2ce5293a98..ac3ad186f7 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogAccelerometer.cpp
@@ -23,8 +23,8 @@ void AnalogAccelerometer::InitAccelerometer()
 
 /**
  * Create a new instance of an accelerometer.
- *
  * The constructor allocates desired analog input.
+ * @param channel The channel number for the analog input the accelerometer is connected to
  */
 AnalogAccelerometer::AnalogAccelerometer(int32_t channel)
 {
@@ -38,6 +38,7 @@ AnalogAccelerometer::AnalogAccelerometer(int32_t channel)
  * Make a new instance of accelerometer given an AnalogInput. This is particularly
  * useful if the port is going to be read as an analog channel as well as through
  * the Accelerometer class.
+ * @param channel The existing AnalogInput object for the analog input the accelerometer is connected to
  */
 AnalogAccelerometer::AnalogAccelerometer(AnalogInput *channel)
 {
@@ -80,7 +81,7 @@ float AnalogAccelerometer::GetAcceleration()
  * Set the accelerometer sensitivity.
  *
  * This sets the sensitivity of the accelerometer used for calculating the acceleration.
- * The sensitivity varys by accelerometer model. There are constants defined for various models.
+ * The sensitivity varies by accelerometer model. There are constants defined for various models.
  *
  * @param sensitivity The sensitivity of accelerometer in Volts per G.
  */
@@ -92,7 +93,7 @@ void AnalogAccelerometer::SetSensitivity(float sensitivity)
 /**
  * Set the voltage that corresponds to 0 G.
  *
- * The zero G voltage varys by accelerometer model. There are constants defined for various models.
+ * The zero G voltage varies by accelerometer model. There are constants defined for various models.
  *
  * @param zero The zero G voltage.
  */
diff --git a/wpilibc/wpilibC++Devices/src/AnalogInput.cpp b/wpilibc/wpilibC++Devices/src/AnalogInput.cpp
index c9e45b3160..75a912447c 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogInput.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogInput.cpp
@@ -54,7 +54,7 @@ void AnalogInput::InitAnalogInput(uint32_t channel)
 /**
  * Construct an analog input.
  *
- * @param channel The channel number to represent.
+ * @param channel The channel number on the roboRIO to represent. 0-3 are on-board 4-7 are on the MXP port.
  */
 AnalogInput::AnalogInput(uint32_t channel)
 {
@@ -86,9 +86,9 @@ int16_t AnalogInput::GetValue()
 
 /**
  * Get a sample from the output of the oversample and average engine for this channel.
- * The sample is 12-bit + the value configured in SetOversampleBits().
+ * The sample is 12-bit + the bits configured in SetOversampleBits().
  * The value configured in SetAverageBits() will cause this value to be averaged 2**bits number of samples.
- * This is not a sliding window.  The sample will not change until 2**(OversamplBits + AverageBits) samples
+ * This is not a sliding window.  The sample will not change until 2**(OversampleBits + AverageBits) samples
  * have been acquired from the module on this channel.
  * Use GetAverageVoltage() to get the analog value in calibrated units.
  * @return A sample from the oversample and average engine for this channel.
@@ -176,7 +176,7 @@ uint32_t AnalogInput::GetChannel()
 
 /**
  * Set the number of averaging bits.
- * This sets the number of averaging bits. The actual number of averaged samples is 2**bits.
+ * This sets the number of averaging bits. The actual number of averaged samples is 2^bits.
  * Use averaging to improve the stability of your measurement at the expense of sampling rate.
  * The averaging is done automatically in the FPGA.
  *
@@ -192,7 +192,7 @@ void AnalogInput::SetAverageBits(uint32_t bits)
 
 /**
  * Get the number of averaging bits previously configured.
- * This gets the number of averaging bits from the FPGA. The actual number of averaged samples is 2**bits.
+ * This gets the number of averaging bits from the FPGA. The actual number of averaged samples is 2^bits.
  * The averaging is done automatically in the FPGA.
  *
  * @return Number of bits of averaging previously configured.
@@ -207,7 +207,7 @@ uint32_t AnalogInput::GetAverageBits()
 
 /**
  * Set the number of oversample bits.
- * This sets the number of oversample bits. The actual number of oversampled values is 2**bits.
+ * This sets the number of oversample bits. The actual number of oversampled values is 2^bits.
  * Use oversampling to improve the resolution of your measurements at the expense of sampling rate.
  * The oversampling is done automatically in the FPGA.
  *
@@ -224,7 +224,7 @@ void AnalogInput::SetOversampleBits(uint32_t bits)
 /**
  * Get the number of oversample bits previously configured.
  * This gets the number of oversample bits from the FPGA. The actual number of oversampled values is
- * 2**bits. The oversampling is done automatically in the FPGA.
+ * 2^bits. The oversampling is done automatically in the FPGA.
  *
  * @return Number of bits of oversampling previously configured.
  */
@@ -265,7 +265,7 @@ void AnalogInput::InitAccumulator()
 
 
 /**
- * Set an inital value for the accumulator.
+ * Set an initial value for the accumulator.
  *
  * This will be added to all values returned to the user.
  * @param initialValue The value that the accumulator should start from when reset.
@@ -301,11 +301,11 @@ void AnalogInput::ResetAccumulator()
  * Set the center value of the accumulator.
  *
  * The center value is subtracted from each A/D value before it is added to the accumulator. This
- * is used for the center value of devices like gyros and accelerometers to make integration work
- * and to take the device offset into account when integrating.
+ * is used for the center value of devices like gyros and accelerometers to 
+ * take the device offset into account when integrating.
  *
- * This center value is based on the output of the oversampled and averaged source from channel 1.
- * Because of this, any non-zero oversample bits will affect the size of the value for this field.
+ * This center value is based on the output of the oversampled and averaged source from the accumulator
+ * channel. Because of this, any non-zero oversample bits will affect the size of the value for this field.
  */
 void AnalogInput::SetAccumulatorCenter(int32_t center)
 {
@@ -317,6 +317,7 @@ void AnalogInput::SetAccumulatorCenter(int32_t center)
 
 /**
  * Set the accumulator's deadband.
+ * @param 
  */
 void AnalogInput::SetAccumulatorDeadband(int32_t deadband)
 {
@@ -329,7 +330,7 @@ void AnalogInput::SetAccumulatorDeadband(int32_t deadband)
 /**
  * Read the accumulated value.
  *
- * Read the value that has been accumulating on channel 1.
+ * Read the value that has been accumulating.
  * The accumulator is attached after the oversample and average engine.
  *
  * @return The 64-bit value accumulated since the last Reset().
@@ -379,8 +380,9 @@ void AnalogInput::GetAccumulatorOutput(int64_t *value, uint32_t *count)
 }
 
 /**
- * Set the sample rate for all analog channels.
- *
+ * Set the sample rate per channel for all analog channels.
+ * The maximum rate is 500kS/s divided by the number of channels in use.
+ * This is 62500 samples/s per channel.
  * @param samplesPerSecond The number of samples per second.
  */
 void AnalogInput::SetSampleRate(float samplesPerSecond)
diff --git a/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp b/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp
index 37887b124f..502b35f57f 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogOutput.cpp
@@ -44,12 +44,17 @@ void AnalogOutput::InitAnalogOutput(uint32_t channel) {
 }
 
 /**
- * Construct an anlog output on the given channel
+ * Construct an analog output on the given channel.
+ * All analog outputs are located on the MXP port.
+ * @param The channel number on the roboRIO to represent.
  */
 AnalogOutput::AnalogOutput(uint32_t channel) {
     InitAnalogOutput(channel);
 }
 
+/**
+ * Destructor. Frees analog output resource
+ */
 AnalogOutput::~AnalogOutput() {
     outputs->Free(m_channel);
 }
diff --git a/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp b/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp
index 573f2149d8..49723fc71c 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogPotentiometer.cpp
@@ -11,21 +11,42 @@ void AnalogPotentiometer::initPot(AnalogInput *input, double fullRange, double o
     m_analog_input = input;
 }
 
+/**
+ * Construct an Analog Potentiometer object from a channel number.
+ * @param channel The channel number on the roboRIO to represent. 0-3 are on-board 4-7 are on the MXP port.
+ * @param fullRange The angular value (in desired units) representing the full 0-5V range of the input.
+ * @param offset The angular value (in desired units) representing the angular output at 0V.
+ */
 AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange, double offset) {
     m_init_analog_input = true;
     initPot(new AnalogInput(channel), fullRange, offset);
 }
 
+/**
+ * Construct an Analog Potentiometer object from an existing Analog Input pointer.
+ * @param channel The existing Analog Input pointer 
+ * @param fullRange The angular value (in desired units) representing the full 0-5V range of the input.
+ * @param offset The angular value (in desired units) representing the angular output at 0V.
+ */
 AnalogPotentiometer::AnalogPotentiometer(AnalogInput *input, double fullRange, double offset) {
     m_init_analog_input = false;
     initPot(input, fullRange, offset);
 }
 
+/**
+ * Construct an Analog Potentiometer object from an existing Analog Input reference.
+ * @param channel The existing Analog Input reference 
+ * @param fullRange The angular value (in desired units) representing the full 0-5V range of the input.
+ * @param offset The angular value (in desired units) representing the angular output at 0V.
+ */
 AnalogPotentiometer::AnalogPotentiometer(AnalogInput &input, double fullRange, double offset) {
     m_init_analog_input = false;
     initPot(&input, fullRange, offset);
 }
 
+/**
+ * Destructor. Releases the Analog Input resource if it was allocated by this object
+ */
 AnalogPotentiometer::~AnalogPotentiometer() {
   if(m_init_analog_input){
     delete m_analog_input;
@@ -36,7 +57,7 @@ AnalogPotentiometer::~AnalogPotentiometer() {
 /**
  * Get the current reading of the potentiometer.
  *
- * @return The current position of the potentiometer.
+ * @return The current position of the potentiometer (in the units used for fullRaneg and offset).
  */
 double AnalogPotentiometer::Get() {
     return (m_analog_input->GetVoltage() / ControllerPower::GetVoltage5V()) * m_fullRange + m_offset;
diff --git a/wpilibc/wpilibC++Devices/src/AnalogTrigger.cpp b/wpilibc/wpilibC++Devices/src/AnalogTrigger.cpp
index 778ced1d3f..61cd0148c0 100644
--- a/wpilibc/wpilibC++Devices/src/AnalogTrigger.cpp
+++ b/wpilibc/wpilibC++Devices/src/AnalogTrigger.cpp
@@ -29,7 +29,7 @@ void AnalogTrigger::InitTrigger(uint32_t channel)
 /**
  * Constructor for an analog trigger given a channel number.
  *
- * @param channel The analog channel (0..7).
+ * @param channel The channel number on the roboRIO to represent. 0-3 are on-board 4-7 are on the MXP port.
  */
 AnalogTrigger::AnalogTrigger(int32_t channel)
 {
@@ -40,6 +40,7 @@ AnalogTrigger::AnalogTrigger(int32_t channel)
  * Construct an analog trigger given an analog input.
  * This should be used in the case of sharing an analog channel between the
  * trigger and an analog input object.
+ * @param channel The pointer to the existing AnalogInput object
  */
 AnalogTrigger::AnalogTrigger(AnalogInput *input)
 {
@@ -57,6 +58,8 @@ AnalogTrigger::~AnalogTrigger()
  * Set the upper and lower limits of the analog trigger.
  * The limits are given in ADC codes.  If oversampling is used, the units must be scaled
  * appropriately.
+ * @param lower The lower limit of the trigger in ADC codes (12-bit values).
+ * @param upper The upper limit of the trigger in ADC codes (12-bit values).
  */
 void AnalogTrigger::SetLimitsRaw(int32_t lower, int32_t upper)
 {
@@ -69,6 +72,8 @@ void AnalogTrigger::SetLimitsRaw(int32_t lower, int32_t upper)
 /**
  * Set the upper and lower limits of the analog trigger.
  * The limits are given as floating point voltage values.
+ * @param lower The lower limit of the trigger in Volts.
+ * @param upper The upper limit of the trigger in Volts.
  */
 void AnalogTrigger::SetLimitsVoltage(float lower, float upper)
 {
@@ -82,6 +87,7 @@ void AnalogTrigger::SetLimitsVoltage(float lower, float upper)
  * Configure the analog trigger to use the averaged vs. raw values.
  * If the value is true, then the averaged value is selected for the analog trigger, otherwise
  * the immediate value is used.
+ * @param useAveragedValue If true, use the Averaged value, otherwise use the instantaneous reading
  */
 void AnalogTrigger::SetAveraged(bool useAveragedValue)
 {
@@ -95,6 +101,7 @@ void AnalogTrigger::SetAveraged(bool useAveragedValue)
  * Configure the analog trigger to use a filtered value.
  * The analog trigger will operate with a 3 point average rejection filter. This is designed to
  * help with 360 degree pot applications for the period where the pot crosses through zero.
+ * @param useFilteredValue If true, use the 3 point rejection filter, otherwise use the unfiltered value
  */
 void AnalogTrigger::SetFiltered(bool useFilteredValue)
 {
@@ -118,7 +125,7 @@ uint32_t AnalogTrigger::GetIndex()
 /**
  * Return the InWindow output of the analog trigger.
  * True if the analog input is between the upper and lower limits.
- * @return The InWindow output of the analog trigger.
+ * @return True if the analog input is between the upper and lower limits.
  */
 bool AnalogTrigger::GetInWindow()
 {
@@ -134,7 +141,7 @@ bool AnalogTrigger::GetInWindow()
  * True if above upper limit.
  * False if below lower limit.
  * If in Hysteresis, maintain previous state.
- * @return The TriggerState output of the analog trigger.
+ * @return True if above upper limit. False if below lower limit. If in Hysteresis, maintain previous state.
  */
 bool AnalogTrigger::GetTriggerState()
 {
diff --git a/wpilibc/wpilibC++Devices/src/Compressor.cpp b/wpilibc/wpilibC++Devices/src/Compressor.cpp
index 3a7a09212a..b1e72b82b3 100644
--- a/wpilibc/wpilibC++Devices/src/Compressor.cpp
+++ b/wpilibc/wpilibC++Devices/src/Compressor.cpp
@@ -15,7 +15,7 @@ void Compressor::InitCompressor(uint8_t pcmID) {
 /**
  * Constructor
  *
- * Uses the default solenoid module number
+ * Uses the default PCM ID (0)
  */
 Compressor::Compressor() {
 	InitCompressor(GetDefaultSolenoidModule());
@@ -24,7 +24,7 @@ Compressor::Compressor() {
 /**
  * Constructor
  *
- * @param module The module number to use (1 or 2)
+ * @param module The PCM ID to use (0-62)
  */
 Compressor::Compressor(uint8_t pcmID) {
 	InitCompressor(pcmID);
@@ -35,20 +35,21 @@ Compressor::~Compressor() {
 }
 
 /**
- *  Starts closed-loop control
+ *  Starts closed-loop control. Note that closed loop control is enabled by default.
  */
 void Compressor::Start() {
 	SetClosedLoopControl(true);
 }
 
 /**
- *  Stops closed-loop control
+ *  Stops closed-loop control. Note that closed loop control is enabled by default.
  */
 void Compressor::Stop() {
 	SetClosedLoopControl(false);
 }
 
 /**
+ * Check if compressor output is active
  * @return true if the compressor is on
  */
 bool Compressor::Enabled() {
@@ -65,6 +66,7 @@ bool Compressor::Enabled() {
 }
 
 /**
+ * Check if the pressure switch is triggered
  * @return true if pressure is low
  */
 bool Compressor::GetPressureSwitchValue() {
@@ -82,6 +84,7 @@ bool Compressor::GetPressureSwitchValue() {
 
 
 /**
+ * Query how much current the compressor is drawing
  * @return The current through the compressor, in amps
  */
 float Compressor::GetCompressorCurrent() {
@@ -101,6 +104,7 @@ float Compressor::GetCompressorCurrent() {
 /**
  * Enables or disables automatically turning the compressor on when the
  * pressure is low.
+ * @param on Set to true to enable closed loop control of the compressor. False to disable.
  */
 void Compressor::SetClosedLoopControl(bool on) {
 	int32_t status = 0;
@@ -115,6 +119,7 @@ void Compressor::SetClosedLoopControl(bool on) {
 /**
  * Returns true if the compressor will automatically turn on when the
  * pressure is low.
+ * @return True if closed loop control of the compressor is enabled. False if disabled.
  */
 bool Compressor::GetClosedLoopControl() {
 	int32_t status = 0;
@@ -130,6 +135,7 @@ bool Compressor::GetClosedLoopControl() {
 }
 
 /**
+ * Query if the compressor output has been disabled due to high current draw.
  * @return true if PCM is in fault state : Compressor Drive is 
  *			disabled due to compressor current being too high.
  */
@@ -146,6 +152,8 @@ bool Compressor::GetCompressorCurrentTooHighFault() {
 	return value;
 }
 /**
+ * Query if the compressor output has been disabled due to high current draw (sticky).
+ * A sticky fault will not clear on device reboot, it must be cleared through code or the webdash.
  * @return true if PCM sticky fault is set : Compressor Drive is 
  *			disabled due to compressor current being too high.
  */
@@ -162,6 +170,8 @@ bool Compressor::GetCompressorCurrentTooHighStickyFault() {
 	return value;
 }
 /**
+ * Query if the compressor output has been disabled due to a short circuit (sticky).
+ * A sticky fault will not clear on device reboot, it must be cleared through code or the webdash.
  * @return true if PCM sticky fault is set : Compressor output 
  *			appears to be shorted.
  */
@@ -178,6 +188,7 @@ bool Compressor::GetCompressorShortedStickyFault() {
 	return value;
 }
 /**
+ * Query if the compressor output has been disabled due to a short circuit.
  * @return true if PCM is in fault state : Compressor output 
  *			appears to be shorted.
  */
@@ -194,6 +205,8 @@ bool Compressor::GetCompressorShortedFault() {
 	return value;
 }
 /**
+ * Query if the compressor output does not appear to be wired (sticky).
+ * A sticky fault will not clear on device reboot, it must be cleared through code or the webdash.
  * @return true if PCM sticky fault is set : Compressor does not 
  *			appear to be wired, i.e. compressor is
  * 			not drawing enough current.
@@ -211,6 +224,7 @@ bool Compressor::GetCompressorNotConnectedStickyFault() {
 	return value;
 }
 /**
+ * Query if the compressor output does not appear to be wired.
  * @return true if PCM is in fault state : Compressor does not 
  *			appear to be wired, i.e. compressor is
  * 			not drawing enough current.
diff --git a/wpilibc/wpilibC++Devices/src/ControllerPower.cpp b/wpilibc/wpilibC++Devices/src/ControllerPower.cpp
index 97f2616c91..157929bcbe 100644
--- a/wpilibc/wpilibC++Devices/src/ControllerPower.cpp
+++ b/wpilibc/wpilibC++Devices/src/ControllerPower.cpp
@@ -13,7 +13,7 @@
 
 /**
  * Get the input voltage to the robot controller
- * @return The controller input voltage value
+ * @return The controller input voltage value in Volts
  */
 double ControllerPower::GetInputVoltage() {
 	int32_t status = 0;
@@ -24,7 +24,7 @@ double ControllerPower::GetInputVoltage() {
 
 /**
  * Get the input current to the robot controller
- * @return The controller input current value
+ * @return The controller input current value in Amps
  */
 double ControllerPower::GetInputCurrent() {
 	int32_t status = 0;
@@ -35,7 +35,7 @@ double ControllerPower::GetInputCurrent() {
 
 /**
  * Get the voltage of the 6V rail
- * @return The controller 6V rail voltage value
+ * @return The controller 6V rail voltage value in Volts
  */
 double ControllerPower::GetVoltage6V() {
 	int32_t status = 0;
@@ -46,7 +46,7 @@ double ControllerPower::GetVoltage6V() {
 
 /**
  * Get the current output of the 6V rail
- * @return The controller 6V rail output current value
+ * @return The controller 6V rail output current value in Amps
  */
 double ControllerPower::GetCurrent6V() {
 	int32_t status = 0;
@@ -58,7 +58,7 @@ double ControllerPower::GetCurrent6V() {
 /**
  * Get the enabled state of the 6V rail. The rail may be disabled due to a controller
  * brownout, a short circuit on the rail, or controller over-voltage
- * @return The controller 6V rail enabled value
+ * @return The controller 6V rail enabled value. True for enabled.
  */
 bool ControllerPower::GetEnabled6V() {
 	int32_t status = 0;
@@ -69,7 +69,7 @@ bool ControllerPower::GetEnabled6V() {
 
 /**
  * Get the count of the total current faults on the 6V rail since the controller has booted
- * @return The number of faults
+ * @return The number of faults.
  */
 int ControllerPower::GetFaultCount6V() {
 	int32_t status = 0;
@@ -80,6 +80,7 @@ int ControllerPower::GetFaultCount6V() {
 
 /**
  * Get the voltage of the 5V rail
+ * @return The controller 5V rail voltage value in Volts
  */
 double ControllerPower::GetVoltage5V() {
 	int32_t status = 0;
@@ -90,6 +91,7 @@ double ControllerPower::GetVoltage5V() {
 
 /**
  * Get the current output of the 5V rail
+ * @return The controller 5V rail output current value in Amps
  */
 double ControllerPower::GetCurrent5V() {
 	int32_t status = 0;
@@ -101,7 +103,7 @@ double ControllerPower::GetCurrent5V() {
 /**
  * Get the enabled state of the 5V rail. The rail may be disabled due to a controller
  * brownout, a short circuit on the rail, or controller over-voltage
- * @return The controller 5V rail enabled value
+ * @return The controller 5V rail enabled value. True for enabled.
  */
 bool ControllerPower::GetEnabled5V() {
 	int32_t status = 0;
@@ -123,6 +125,7 @@ int ControllerPower::GetFaultCount5V() {
 
 /**
  * Get the voltage of the 3.3V rail
+ * @return The controller 3.3V rail voltage value in Volts
  */
 double ControllerPower::GetVoltage3V3() {
 	int32_t status = 0;
@@ -133,6 +136,7 @@ double ControllerPower::GetVoltage3V3() {
 
 /**
  * Get the current output of the 3.3V rail
+ * @return The controller 3.3V rail output current value in Amps
  */
 double ControllerPower::GetCurrent3V3() {
 	int32_t status = 0;
@@ -145,7 +149,7 @@ double ControllerPower::GetCurrent3V3() {
 /**
  * Get the enabled state of the 3.3V rail. The rail may be disabled due to a controller
  * brownout, a short circuit on the rail, or controller over-voltage
- * @return The controller 3.3V rail enabled value
+ * @return The controller 3.3V rail enabled value. True for enabled.
  */
 bool ControllerPower::GetEnabled3V3() {
 	int32_t status = 0;
diff --git a/wpilibc/wpilibC++Devices/src/Counter.cpp b/wpilibc/wpilibC++Devices/src/Counter.cpp
index b576ad3790..09a194b416 100644
--- a/wpilibc/wpilibC++Devices/src/Counter.cpp
+++ b/wpilibc/wpilibC++Devices/src/Counter.cpp
@@ -16,6 +16,7 @@
  * This creates a ChipObject counter and initializes status variables appropriately
  *
  * The counter will start counting immediately.
+ * @param mode The counter mode
  */
 void Counter::InitCounter(Mode mode)
 {
@@ -38,7 +39,7 @@ void Counter::InitCounter(Mode mode)
 
 /**
  * Create an instance of a counter where no sources are selected.
- * Then they all must be selected by calling functions to specify the upsource and the downsource
+ * They all must be selected by calling functions to specify the upsource and the downsource
  * independently.
  *
  * The counter will start counting immediately.
@@ -52,11 +53,12 @@ Counter::Counter() :
 }
 
 /**
- * Create an instance of a counter from a Digital Input.
+ * Create an instance of a counter from a Digital Source (such as a Digital Input).
  * This is used if an existing digital input is to be shared by multiple other objects such
- * as encoders.
+ * as encoders or if the Digital Source is not a Digital Input channel (such as an Analog Trigger).
  *
  * The counter will start counting immediately.
+ * @param source A pointer to the existing DigitalSource object. It will be set as the Up Source.
  */
 Counter::Counter(DigitalSource *source) :
 	m_upSource(NULL),
@@ -68,6 +70,14 @@ Counter::Counter(DigitalSource *source) :
 	ClearDownSource();
 }
 
+/**
+ * Create an instance of a counter from a Digital Source (such as a Digital Input).
+ * This is used if an existing digital input is to be shared by multiple other objects such
+ * as encoders or if the Digital Source is not a Digital Input channel (such as an Analog Trigger).
+ *
+ * The counter will start counting immediately.
+ * @param source A reference to the existing DigitalSource object. It will be set as the Up Source.
+ */
 Counter::Counter(DigitalSource &source) :
 	m_upSource(NULL),
 	m_downSource(NULL),
@@ -83,6 +93,7 @@ Counter::Counter(DigitalSource &source) :
  * Create an up-Counter instance given a channel.
  *
  * The counter will start counting immediately.
+ * @param channel The DIO channel to use as the up source. 0-9 are on-board, 10-25 are on the MXP 
  */
 Counter::Counter(int32_t channel) :
 	m_upSource(NULL),
@@ -100,6 +111,7 @@ Counter::Counter(int32_t channel) :
  * Use the trigger state output from the analog trigger.
  *
  * The counter will start counting immediately.
+ * @param trigger The pointer to the existing AnalogTrigger object.
  */
 Counter::Counter(AnalogTrigger *trigger) :
 	m_upSource(NULL),
@@ -112,6 +124,14 @@ Counter::Counter(AnalogTrigger *trigger) :
 	m_allocatedUpSource = true;
 }
 
+/**
+ * Create an instance of a Counter object.
+ * Create an instance of a simple up-Counter given an analog trigger.
+ * Use the trigger state output from the analog trigger.
+ *
+ * The counter will start counting immediately.
+ * @param trigger The reference to the existing AnalogTrigger object.
+ */
 Counter::Counter(AnalogTrigger &trigger) :
 	m_upSource(NULL),
 	m_downSource(NULL),
@@ -123,6 +143,15 @@ Counter::Counter(AnalogTrigger &trigger) :
 	m_allocatedUpSource = true;
 }
 
+/**
+ * Create an instance of a Counter object.
+ * Creates a full up-down counter given two Digital Sources
+ * @param encodingType The quadrature decoding mode (1x or 2x)
+ * @param upSource The pointer to the DigitalSource to set as the up source
+ * @param downSource The pointer to the DigitalSource to set as the down source
+ * @param inverted True to invert the output (reverse the direction)
+ */
+	
 Counter::Counter(EncodingType encodingType, DigitalSource *upSource, DigitalSource *downSource, bool inverted) :
 	m_upSource(NULL),
 	m_downSource(NULL),
@@ -178,6 +207,7 @@ Counter::~Counter()
 
 /**
  * Set the upsource for the counter as a digital input channel.
+ * @param channel The DIO channel to use as the up source. 0-9 are on-board, 10-25 are on the MXP 
  */
 void Counter::SetUpSource(int32_t channel)
 {
@@ -211,6 +241,7 @@ void Counter::SetUpSource(AnalogTrigger &analogTrigger, AnalogTriggerType trigge
 /**
  * Set the source object that causes the counter to count up.
  * Set the up counting DigitalSource.
+ * @param source Pointer to the DigitalSource object to set as the up source
  */
 void Counter::SetUpSource(DigitalSource *source)
 {
@@ -238,6 +269,7 @@ void Counter::SetUpSource(DigitalSource *source)
 /**
  * Set the source object that causes the counter to count up.
  * Set the up counting DigitalSource.
+ * @param source Reference to the DigitalSource object to set as the up source
  */
 void Counter::SetUpSource(DigitalSource &source)
 {
@@ -246,7 +278,9 @@ void Counter::SetUpSource(DigitalSource &source)
 
 /**
  * Set the edge sensitivity on an up counting source.
- * Set the up source to either detect rising edges or falling edges.
+ * Set the up source to either detect rising edges or falling edges or both.
+ * @param risingEdge True to trigger on rising edges
+ * @param fallingEdge True to trigger on falling edges
  */
 void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge)
 {
@@ -279,6 +313,7 @@ void Counter::ClearUpSource()
 
 /**
  * Set the down counting source to be a digital input channel.
+ * @param channel The DIO channel to use as the up source. 0-9 are on-board, 10-25 are on the MXP 
  */
 void Counter::SetDownSource(int32_t channel)
 {
@@ -312,6 +347,7 @@ void Counter::SetDownSource(AnalogTrigger &analogTrigger, AnalogTriggerType trig
 /**
  * Set the source object that causes the counter to count down.
  * Set the down counting DigitalSource.
+ * @param source Pointer to the DigitalSource object to set as the down source
  */
 void Counter::SetDownSource(DigitalSource *source)
 {
@@ -339,6 +375,7 @@ void Counter::SetDownSource(DigitalSource *source)
 /**
  * Set the source object that causes the counter to count down.
  * Set the down counting DigitalSource.
+ * @param source Reference to the DigitalSource object to set as the down source
  */
 void Counter::SetDownSource(DigitalSource &source)
 {
@@ -348,6 +385,8 @@ void Counter::SetDownSource(DigitalSource &source)
 /**
  * Set the edge sensitivity on a down counting source.
  * Set the down source to either detect rising edges or falling edges.
+ * @param risingEdge True to trigger on rising edges
+ * @param fallingEdge True to trigger on falling edges
  */
 void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge)
 {
@@ -486,11 +525,11 @@ void Counter::Reset()
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
 
-/*
+/**
  * Get the Period of the most recent count.
  * Returns the time interval of the most recent count. This can be used for velocity calculations
  * to determine shaft speed.
- * @returns The period of the last two pulses in units of seconds.
+ * @returns The period between the last two pulses in units of seconds.
  */
 double Counter::GetPeriod()
 {
@@ -527,6 +566,7 @@ void Counter::SetMaxPeriod(double maxPeriod)
  * output (except when there have been no events since an FPGA reset) and you will likely not
  * see the stopped bit become true (since it is updated at the end of an average and there are
  * no samples to average).
+ * @param enabled True to enable update when empty
  */
 void Counter::SetUpdateWhenEmpty(bool enabled)
 {
diff --git a/wpilibc/wpilibC++Devices/src/DigitalInput.cpp b/wpilibc/wpilibC++Devices/src/DigitalInput.cpp
index 0bade1931e..71c327efdd 100644
--- a/wpilibc/wpilibC++Devices/src/DigitalInput.cpp
+++ b/wpilibc/wpilibC++Devices/src/DigitalInput.cpp
@@ -40,7 +40,7 @@ void DigitalInput::InitDigitalInput(uint32_t channel)
  * Create an instance of a Digital Input class.
  * Creates a digital input given a channel.
  *
- * @param channel The digital channel (0..19).
+ * @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
  */
 DigitalInput::DigitalInput(uint32_t channel)
 {
@@ -67,7 +67,7 @@ DigitalInput::~DigitalInput()
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
 }
 
-/*
+/**
  * Get the value from a digital input channel.
  * Retrieve the value of a single digital input channel from the FPGA.
  */
diff --git a/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp b/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp
index 62e78173c2..11768f38ac 100644
--- a/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp
+++ b/wpilibc/wpilibC++Devices/src/DigitalOutput.cpp
@@ -39,7 +39,7 @@ void DigitalOutput::InitDigitalOutput(uint32_t channel)
  * Create an instance of a digital output.
  * Create a digital output given a channel.
  *
- * @param channel The digital channel (0..19)
+ * @param channel The digital channel 0-9 are on-board, 10-25 are on the MXP port
  */
 DigitalOutput::DigitalOutput(uint32_t channel)
 {
@@ -63,6 +63,7 @@ DigitalOutput::~DigitalOutput()
 /**
  * Set the value of a digital output.
  * Set the value of a digital output to either one (true) or zero (false).
+ * @param value 1 (true) for high, 0 (false) for disabled
  */
 void DigitalOutput::Set(uint32_t value)
 {
diff --git a/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp b/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp
index b69c32c598..006190c71b 100644
--- a/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp
+++ b/wpilibc/wpilibC++Devices/src/DoubleSolenoid.cpp
@@ -10,7 +10,7 @@
 #include "LiveWindow/LiveWindow.h"
 
 /**
- * Common function to implement constructor behavior.
+ * Common function to implement constructor behaviour.
  */
 void DoubleSolenoid::InitSolenoid()
 {
@@ -59,9 +59,9 @@ void DoubleSolenoid::InitSolenoid()
 
 /**
  * Constructor.
- *
- * @param forwardChannel The forward channel on the module to control.
- * @param reverseChannel The reverse channel on the module to control.
+ * Uses the default PCM ID of 0
+ * @param forwardChannel The forward channel number on the PCM.
+ * @param reverseChannel The reverse channel number on the PCM.
  */
 DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
 	: SolenoidBase (GetDefaultSolenoidModule())
@@ -101,7 +101,7 @@ DoubleSolenoid::~DoubleSolenoid()
 /**
  * Set the value of a solenoid.
  *
- * @param value Move the solenoid to forward, reverse, or don't move it.
+ * @param value The value to set (Off, Forward or Reverse)
  */
 void DoubleSolenoid::Set(Value value)
 {
diff --git a/wpilibc/wpilibC++Devices/src/DriverStation.cpp b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
index 457f9fb1ad..2b9496c8b1 100644
--- a/wpilibc/wpilibC++Devices/src/DriverStation.cpp
+++ b/wpilibc/wpilibC++Devices/src/DriverStation.cpp
@@ -116,6 +116,7 @@ void DriverStation::Run()
 
 /**
  * Return a pointer to the singleton DriverStation.
+ * @return Pointer to the DS instance
  */
 DriverStation* DriverStation::GetInstance()
 {
@@ -146,7 +147,7 @@ void DriverStation::GetData()
 /**
  * Read the battery voltage.
  *
- * @return The battery voltage.
+ * @return The battery voltage in Volts.
  */
 float DriverStation::GetBatteryVoltage()
 {
@@ -157,6 +158,10 @@ float DriverStation::GetBatteryVoltage()
 	return voltage;
 }
 
+/**
+ * Reports errors related to unplugged joysticks
+ * Throttles the errors so that they don't overwhelm the DS
+ */
 void DriverStation::ReportJoystickUnpluggedError(std::string message) {
 	double currentTime = Timer::GetFPGATimestamp();
 	if (currentTime > m_nextMessageTime) {
@@ -165,10 +170,11 @@ void DriverStation::ReportJoystickUnpluggedError(std::string message) {
 	}
 }
 
-/**	Returns the number of axis on a given joystick port
+/**	
+ * Returns the number of axes on a given joystick port
  *
  * @param stick The joystick port number
- * @return the number of axis on the indicated joystick
+ * @return The number of axes on the indicated joystick
  */
 int DriverStation::GetStickAxisCount(uint32_t stick)
 {
@@ -182,10 +188,11 @@ int DriverStation::GetStickAxisCount(uint32_t stick)
    	return joystickAxes.count;
 }
 
-/**	Returns the number of POVs on a given joystick port
+/**	
+ * Returns the number of POVs on a given joystick port
  *
  * @param stick The joystick port number
- * @return thenumber of POVs on the indicated joystick
+ * @return The number of POVs on the indicated joystick
  */
 int DriverStation::GetStickPOVCount(uint32_t stick)
 {
@@ -199,7 +206,8 @@ int DriverStation::GetStickPOVCount(uint32_t stick)
    	return joystickPOVs.count;
 }
 
-/**	Returns the number of buttons on a given joystick port
+/**	
+ * Returns the number of buttons on a given joystick port
  *
  * @param stick The joystick port number
  * @return The number of buttons on the indicated joystick
@@ -322,6 +330,10 @@ bool DriverStation::GetStickButton(uint32_t stick, uint8_t button)
 	return ((0x1 << (button-1)) & m_joystickButtons[stick].buttons) !=0;
 }
 
+/**
+ * Check if the DS has enabled the robot
+ * @return True if the robot is enabled and the DS is connected
+ */
 bool DriverStation::IsEnabled()
 {
 	HALControlWord controlWord;
@@ -330,6 +342,10 @@ bool DriverStation::IsEnabled()
 	return controlWord.enabled && controlWord.dsAttached;
 }
 
+/**
+ * Check if the robot is disabled
+ * @return True if the robot is explicitly disabled or the DS is not connected
+ */
 bool DriverStation::IsDisabled()
 {
 	HALControlWord controlWord;
@@ -338,6 +354,10 @@ bool DriverStation::IsDisabled()
 	return !(controlWord.enabled && controlWord.dsAttached);
 }
 
+/**
+ * Check if the DS is commanding autonomous mode
+ * @return True if the robot is being commanded to be in autonomous mode
+ */
 bool DriverStation::IsAutonomous()
 {
 	HALControlWord controlWord;
@@ -346,6 +366,10 @@ bool DriverStation::IsAutonomous()
 	return controlWord.autonomous;
 }
 
+/**
+ * Check if the DS is commanding teleop mode
+ * @return True if the robot is being commanded to be in teleop mode
+ */
 bool DriverStation::IsOperatorControl()
 {
 	HALControlWord controlWord;
@@ -354,6 +378,10 @@ bool DriverStation::IsOperatorControl()
 	return !(controlWord.autonomous || controlWord.test);
 }
 
+/**
+ * Check if the DS is commanding test mode
+ * @return True if the robot is being commanded to be in test mode
+ */
 bool DriverStation::IsTest()
 {
 	HALControlWord controlWord;
@@ -361,6 +389,10 @@ bool DriverStation::IsTest()
 	return controlWord.test;
 }
 
+/**
+ * Check if the DS is attached
+ * @return True if the DS is connected to the robot
+ */
 bool DriverStation::IsDSAttached()
 {
 	HALControlWord controlWord;
@@ -369,6 +401,11 @@ bool DriverStation::IsDSAttached()
 	return controlWord.dsAttached;
 }
 
+/**
+ * Check if the FPGA outputs are enabled. The outputs may be disabled if the robot is disabled
+ * or e-stopped, the watchdog has expired, or if the roboRIO browns out.
+ * @return True if the FPGA outputs are enabled.
+ */
 bool DriverStation::IsSysActive()
 {
 	int32_t status = 0;
@@ -377,6 +414,10 @@ bool DriverStation::IsSysActive()
 	return retVal;
 }
 
+/**
+ * Check if the system is browned out.
+ * @return True if the system is browned out
+ */
 bool DriverStation::IsSysBrownedOut()
 {
 	int32_t status = 0;
@@ -388,7 +429,7 @@ bool DriverStation::IsSysBrownedOut()
 /**
  * Has a new control packet from the driver station arrived since the last time this function was called?
  * Warning: If you call this function from more than one place at the same time,
- * you will not get the get the intended behavior
+ * you will not get the get the intended behaviour.
  * @return True if the control data has been updated since the last call.
  */
 bool DriverStation::IsNewControlData()
@@ -398,7 +439,6 @@ bool DriverStation::IsNewControlData()
 
 /**
  * Is the driver station attached to a Field Management System?
- * Note: This does not work with the Blue DS.
  * @return True if the robot is competing on a field being controlled by a Field Management System
  */
 bool DriverStation::IsFMSAttached()
@@ -411,7 +451,7 @@ bool DriverStation::IsFMSAttached()
 /**
  * Return the alliance that the driver station says it is on.
  * This could return kRed or kBlue
- * @return The Alliance enum
+ * @return The Alliance enum (kRed, kBlue or kInvalid)
  */
 DriverStation::Alliance DriverStation::GetAlliance()
 {
@@ -435,7 +475,7 @@ DriverStation::Alliance DriverStation::GetAlliance()
 /**
  * Return the driver station location on the field
  * This could return 1, 2, or 3
- * @return The location of the driver station
+ * @return The location of the driver station (1-3, 0 for invalid)
  */
 uint32_t DriverStation::GetLocation()
 {
@@ -469,13 +509,12 @@ void DriverStation::WaitForData()
 
 /**
  * Return the approximate match time
- * The FMS does not currently send the official match time to the robots
- * This returns the time since the enable signal sent from the Driver Station
- * At the beginning of autonomous, the time is reset to 0.0 seconds
- * At the beginning of teleop, the time is reset to +15.0 seconds
- * If the robot is disabled, this returns 0.0 seconds
- * Warning: This is not an official time (so it cannot be used to argue with referees)
- * @return Match time in seconds since the beginning of autonomous
+ * The FMS does not send an official match time to the robots, but does send an approximate match time.
+ * The value will count down the time remaining in the current period (auto or teleop).
+ * Warning: This is not an official time (so it cannot be used to dispute ref calls or guarantee that a function
+ * will trigger before the match ends)
+ * The Practice Match function of the DS approximates the behaviour seen on the field.
+ * @return Time remaining in current match period (auto or teleop)
  */
 double DriverStation::GetMatchTime()
 {
diff --git a/wpilibc/wpilibC++Devices/src/Encoder.cpp b/wpilibc/wpilibC++Devices/src/Encoder.cpp
index b76bca30aa..8d6bb5d5ef 100644
--- a/wpilibc/wpilibC++Devices/src/Encoder.cpp
+++ b/wpilibc/wpilibC++Devices/src/Encoder.cpp
@@ -76,8 +76,8 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
  *
  * The counter will start counting immediately.
  *
- * @param aChannel The a channel digital input channel.
- * @param bChannel The b channel digital input channel.
+ * @param aChannel The a channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
+ * @param bChannel The b channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
  * @param reverseDirection represents the orientation of the encoder and inverts the output values
  * if necessary so forward represents positive values.
  * @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
diff --git a/wpilibc/wpilibC++Devices/src/GearTooth.cpp b/wpilibc/wpilibC++Devices/src/GearTooth.cpp
index 024525042f..2b204a617d 100644
--- a/wpilibc/wpilibC++Devices/src/GearTooth.cpp
+++ b/wpilibc/wpilibC++Devices/src/GearTooth.cpp
@@ -23,8 +23,8 @@ void GearTooth::EnableDirectionSensing(bool directionSensitive)
 /**
  * Construct a GearTooth sensor given a channel.
  *
- * @param channel The GPIO channel that the sensor is connected to.
- * @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
+ * @param channel The DIO channel that the sensor is connected to. 0-9 are on-board, 10-25 are on the MXP.
+ * @param directionSensitive True to enable the pulse length decoding in hardware to specify count direction.
  */
 GearTooth::GearTooth(uint32_t channel, bool directionSensitive)
 	: Counter(channel)
@@ -35,10 +35,10 @@ GearTooth::GearTooth(uint32_t channel, bool directionSensitive)
 
 /**
  * Construct a GearTooth sensor given a digital input.
- * This should be used when sharing digial inputs.
+ * This should be used when sharing digital inputs.
  *
- * @param source An object that fully descibes the input that the sensor is connected to.
- * @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
+ * @param source A pointer to the existing DigitalSource object (such as a DigitalInput)
+ * @param directionSensitive True to enable the pulse length decoding in hardware to specify count direction.
  */
 GearTooth::GearTooth(DigitalSource *source, bool directionSensitive)
 	: Counter(source)
@@ -46,6 +46,13 @@ GearTooth::GearTooth(DigitalSource *source, bool directionSensitive)
 	EnableDirectionSensing(directionSensitive);
 }
 
+/**
+ * Construct a GearTooth sensor given a digital input.
+ * This should be used when sharing digital inputs.
+ *
+ * @param source A reference to the existing DigitalSource object (such as a DigitalInput)
+ * @param directionSensitive True to enable the pulse length decoding in hardware to specify count direction.
+ */
 GearTooth::GearTooth(DigitalSource &source, bool directionSensitive): Counter(source)
 {
 	EnableDirectionSensing(directionSensitive);
diff --git a/wpilibc/wpilibC++Devices/src/Gyro.cpp b/wpilibc/wpilibC++Devices/src/Gyro.cpp
index aa343a71ef..559cff190f 100644
--- a/wpilibc/wpilibC++Devices/src/Gyro.cpp
+++ b/wpilibc/wpilibC++Devices/src/Gyro.cpp
@@ -19,8 +19,8 @@ constexpr float Gyro::kDefaultVoltsPerDegreePerSecond;
 
 /**
  * Initialize the gyro.
- * Calibrate the gyro by running for a number of samples and computing the center value for this
- * part. Then use the center value as the Accumulator center value for subsequent measurements.
+ * Calibrate the gyro by running for a number of samples and computing the center value. 
+ * Then use the center value as the Accumulator center value for subsequent measurements.
  * It's important to make sure that the robot is not moving while the centering calculations are
  * in progress, this is typically done when the robot is first turned on while it's sitting at
  * rest before the competition starts.
@@ -71,9 +71,9 @@ void Gyro::InitGyro()
 }
 
 /**
- * Gyro constructor with only a channel..
+ * Gyro constructor using the channel number.
  *
- * @param channel The analog channel the gyro is connected to.
+ * @param channel The analog channel the gyro is connected to. 0-3 are on-board, 4-7 are on the MXP.
  */
 Gyro::Gyro(int32_t channel)
 {
@@ -83,10 +83,10 @@ Gyro::Gyro(int32_t channel)
 }
 
 /**
- * Gyro constructor with a precreated analog channel object.
- * Use this constructor when the analog channel needs to be shared. There
- * is no reference counting when an AnalogInput is passed to the gyro.
- * @param channel The AnalogInput object that the gyro is connected to.
+ * Gyro constructor with a precreated AnalogInput object.
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this constructor
+ * @param channel A pointer to the AnalogInput object that the gyro is connected to.
  */
 Gyro::Gyro(AnalogInput *channel)
 {
@@ -102,6 +102,12 @@ Gyro::Gyro(AnalogInput *channel)
 	}
 }
 
+/**
+ * Gyro constructor with a precreated AnalogInput object.
+ * Use this constructor when the analog channel needs to be shared.
+ * This object will not clean up the AnalogInput object when using this constructor
+ * @param channel A reference to the AnalogInput object that the gyro is connected to.
+ */
 Gyro::Gyro(AnalogInput &channel)
 {
 	m_analog = &channel;
@@ -133,8 +139,8 @@ Gyro::~Gyro()
  *
  * The angle is based on the current accumulator value corrected by the oversampling rate, the
  * gyro type and the A/D calibration values.
- * The angle is continuous, that is can go beyond 360 degrees. This make algorithms that wouldn't
- * want to see a discontinuity in the gyro output as it sweeps past 0 on the second time around.
+ * The angle is continuous, that is it will continue from 360->361 degrees. This allows algorithms that wouldn't
+ * want to see a discontinuity in the gyro output as it sweeps from 360 to 0 on the second time around.
  *
  * @return the current heading of the robot in degrees. This heading is based on integration
  * of the returned rate from the gyro.
@@ -169,11 +175,12 @@ double Gyro::GetRate( void )
 
 
 /**
- * Set the gyro type based on the sensitivity.
+ * Set the gyro sensitivity.
  * This takes the number of volts/degree/second sensitivity of the gyro and uses it in subsequent
- * calculations to allow the code to work with multiple gyros.
+ * calculations to allow the code to work with multiple gyros. This value is typically found in 
+ * the gyro datasheet.
  *
- * @param voltsPerDegreePerSecond The type of gyro specified as the voltage that represents one degree/second.
+ * @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second
  */
 void Gyro::SetSensitivity( float voltsPerDegreePerSecond )
 {
@@ -193,6 +200,11 @@ void Gyro::SetDeadband( float volts ) {
 	m_analog->SetAccumulatorDeadband(deadband);
 }
 
+
+/**
+ * Sets the type of output to use with the WPILib PID class
+ * The gyro supports using either rate or angle for PID calculations
+ */
 void Gyro::SetPIDSourceParameter(PIDSourceParameter pidSource)
 {
 	if(pidSource == 0 || pidSource > 2)
@@ -201,9 +213,10 @@ void Gyro::SetPIDSourceParameter(PIDSourceParameter pidSource)
 }
 
 /**
- * Get the angle in degrees for the PIDSource base object.
+ * Get the PIDOutput for the PIDSource base object. Can be set to return
+ * angle or rate using SetPIDSourceParameter(). Defaults to angle.
  *
- * @return The angle in degrees.
+ * @return The PIDOutput (angle or rate, defaults to angle)
  */
 double Gyro::PIDGet()
 {
diff --git a/wpilibc/wpilibC++Devices/src/I2C.cpp b/wpilibc/wpilibC++Devices/src/I2C.cpp
index fd07d83552..19e3f4f7a3 100644
--- a/wpilibc/wpilibC++Devices/src/I2C.cpp
+++ b/wpilibc/wpilibC++Devices/src/I2C.cpp
@@ -12,7 +12,7 @@
 /**
  * Constructor.
  *
- * @param Port The I2C port to which the device is connected.
+ * @param port The I2C port to which the device is connected.
  * @param deviceAddress The address of the device on the I2C bus.
  */
 I2C::I2C(Port port, uint8_t deviceAddress) :
diff --git a/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp b/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp
index c086be03fc..e8f4259033 100644
--- a/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp
+++ b/wpilibc/wpilibC++Devices/src/IterativeRobot.cpp
@@ -44,10 +44,7 @@ void IterativeRobot::Prestart() {
 /**
  * Provide an alternate "main loop" via StartCompetition().
  * 
- * This specific StartCompetition() implements "main loop" behavior like that of the FRC
- * control system in 2008 and earlier, with a primary (slow) loop that is
- * called periodically, and a "fast loop" (a.k.a. "spin loop") that is 
- * called as fast as possible with no delay between calls. 
+ * This specific StartCompetition() implements "main loop" behaviour synced with the DS packets
  */
 void IterativeRobot::StartCompetition()
 {
diff --git a/wpilibc/wpilibC++Devices/src/Jaguar.cpp b/wpilibc/wpilibC++Devices/src/Jaguar.cpp
index 0a03cc1e94..73e5743a90 100644
--- a/wpilibc/wpilibC++Devices/src/Jaguar.cpp
+++ b/wpilibc/wpilibC++Devices/src/Jaguar.cpp
@@ -14,7 +14,7 @@
  */
 void Jaguar::InitJaguar()
 {
-	/*
+	/**
 	 * Input profile defined by Luminary Micro.
 	 *
 	 * Full reverse ranges from 0.671325ms to 0.6972211ms
@@ -33,7 +33,8 @@ void Jaguar::InitJaguar()
 }
 
 /**
- * @param channel The PWM channel that the Jaguar is attached to.
+ * Constructor for a Jaguar connected via PWM
+ * @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on the MXP port
  */
 Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
 {
diff --git a/wpilibc/wpilibC++Devices/src/Joystick.cpp b/wpilibc/wpilibC++Devices/src/Joystick.cpp
index 739d46dfb4..790f0d7efb 100644
--- a/wpilibc/wpilibC++Devices/src/Joystick.cpp
+++ b/wpilibc/wpilibC++Devices/src/Joystick.cpp
@@ -24,7 +24,7 @@ static bool joySticksInitialized = false;
  * Construct an instance of a joystick.
  * The joystick index is the usb port on the drivers station.
  *
- * @param port The port on the driver station that the joystick is plugged into.
+ * @param port The port on the driver station that the joystick is plugged into (0-5).
  */
 Joystick::Joystick(uint32_t port)
 	: m_ds (NULL)
@@ -221,12 +221,12 @@ bool Joystick::GetBumper(JoystickHand hand)
 }
 
 /**
- * Get the button value for buttons 1 through 12.
+ * Get the button value (starting at button 1)
  *
  * The buttons are returned in a single 16 bit value with one bit representing the state
  * of each button. The appropriate button is returned as a boolean value.
  *
- * @param button The button number to be read.
+ * @param button The button number to be read (starting at 1)
  * @return The state of the button.
  **/
 bool Joystick::GetRawButton(uint32_t button)
@@ -237,6 +237,7 @@ bool Joystick::GetRawButton(uint32_t button)
 /**
  * Get the state of a POV on the joystick.
  *
+ * @param pov The index of the POV to read (starting at 0)
  * @return the angle of the POV in degrees, or -1 if the POV is not pressed.
  */
 int Joystick::GetPOV(uint32_t pov) {
diff --git a/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp b/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
index 23e49d5669..183fca5f1a 100644
--- a/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
+++ b/wpilibc/wpilibC++Devices/src/MotorSafetyHelper.cpp
@@ -56,7 +56,7 @@ MotorSafetyHelper::~MotorSafetyHelper()
 	}
 }
 
-/*
+/**
  * Feed the motor safety object.
  * Resets the timer on this object that is used to do the timeouts.
  */
@@ -66,7 +66,7 @@ void MotorSafetyHelper::Feed()
 	m_stopTime = Timer::GetFPGATimestamp() + m_expiration;
 }
 
-/*
+/**
  * Set the expiration time for the corresponding motor safety object.
  * @param expirationTime The timeout value in seconds.
  */
@@ -78,7 +78,7 @@ void MotorSafetyHelper::SetExpiration(float expirationTime)
 
 /**
  * Retrieve the timeout value for the corresponding motor safety object.
- * @returns the timeout value in seconds.
+ * @return the timeout value in seconds.
  */
 float MotorSafetyHelper::GetExpiration()
 {
@@ -88,7 +88,7 @@ float MotorSafetyHelper::GetExpiration()
 
 /**
  * Determine if the motor is still operating or has timed out.
- * @returns a true value if the motor is still operating normally and hasn't timed out.
+ * @return a true value if the motor is still operating normally and hasn't timed out.
  */
 bool MotorSafetyHelper::IsAlive()
 {
@@ -133,7 +133,7 @@ void MotorSafetyHelper::SetSafetyEnabled(bool enabled)
 /**
  * Return the state of the motor safety enabled flag
  * Return if the motor safety is currently enabled for this devicce.
- * @returns True if motor safety is enforced for this device
+ * @return True if motor safety is enforced for this device
  */
 bool MotorSafetyHelper::IsSafetyEnabled()
 {
diff --git a/wpilibc/wpilibC++Devices/src/PWM.cpp b/wpilibc/wpilibC++Devices/src/PWM.cpp
index 028dc0feb6..d3633dccbd 100644
--- a/wpilibc/wpilibC++Devices/src/PWM.cpp
+++ b/wpilibc/wpilibC++Devices/src/PWM.cpp
@@ -23,6 +23,7 @@ const int32_t PWM::kPwmDisabled;
  * This method is private and is the common path for all the constructors for creating PWM
  * instances. Checks channel value range and allocates the appropriate channel.
  * The allocation is only done to help users ensure that they don't double assign channels.
+ * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
  */
 void PWM::InitPWM(uint32_t channel)
 {
diff --git a/wpilibc/wpilibC++Devices/src/PowerDistributionPanel.cpp b/wpilibc/wpilibC++Devices/src/PowerDistributionPanel.cpp
index 468ce7c648..b124536a3f 100644
--- a/wpilibc/wpilibC++Devices/src/PowerDistributionPanel.cpp
+++ b/wpilibc/wpilibC++Devices/src/PowerDistributionPanel.cpp
@@ -15,6 +15,7 @@ PowerDistributionPanel::PowerDistributionPanel() {
 }
 
 /**
+ * Query the input voltage of the PDP
  * @return The voltage of the PDP
  */
 double
@@ -31,6 +32,7 @@ PowerDistributionPanel::GetVoltage() {
 }
 
 /**
+ * Query the temperature of the PDP
  * @return The temperature of the PDP in degrees Celsius
  */
 double
@@ -47,6 +49,7 @@ PowerDistributionPanel::GetTemperature() {
 }
 
 /**
+ * Query the current of a single channel of the PDP
  * @return The current of one of the PDP channels (channels 0-15) in Amperes
  */
 double
@@ -70,6 +73,7 @@ PowerDistributionPanel::GetCurrent(uint8_t channel) {
 }
 
 /**
+ * Query the total current of all monitored PDP channels (0-15)
  * @return The the total current drawn from the PDP channels in Amperes
  */
 double
@@ -86,6 +90,7 @@ PowerDistributionPanel::GetTotalCurrent() {
 }
 
 /**
+ * Query the total power drawn from the monitored PDP channels
  * @return The the total power drawn from the PDP channels in Joules
  */
 double
@@ -102,6 +107,7 @@ PowerDistributionPanel::GetTotalPower() {
 }
 
 /**
+ * Query the total energy drawn from the monitored PDP channels
  * @return The the total energy drawn from the PDP channels in Watts
  */
 double
diff --git a/wpilibc/wpilibC++Devices/src/RobotBase.cpp b/wpilibc/wpilibC++Devices/src/RobotBase.cpp
index 97a74e597d..9658356bf6 100644
--- a/wpilibc/wpilibC++Devices/src/RobotBase.cpp
+++ b/wpilibc/wpilibC++Devices/src/RobotBase.cpp
@@ -123,6 +123,8 @@ bool RobotBase::IsTest()
 /**
  * This hook is called right before startCompetition(). By default, tell the DS that the robot is now ready to
  * be enabled. If you don't want for the robot to be enabled yet, you can override this method to do nothing.
+ * If you do so, you will need to call HALNetworkCommunicationObserveUserProgramStarting() from your code when
+ * you are ready for the robot to be enabled.
  */
 void RobotBase::Prestart()
 {
diff --git a/wpilibc/wpilibC++Devices/src/RobotDrive.cpp b/wpilibc/wpilibC++Devices/src/RobotDrive.cpp
index ffa8b31cb7..8d44ca07e7 100644
--- a/wpilibc/wpilibC++Devices/src/RobotDrive.cpp
+++ b/wpilibc/wpilibC++Devices/src/RobotDrive.cpp
@@ -43,12 +43,13 @@ void RobotDrive::InitRobotDrive() {
 	m_safetyHelper->SetSafetyEnabled(true);
 }
 
-/** Constructor for RobotDrive with 2 motors specified with channel numbers.
+/** 
+ * Constructor for RobotDrive with 2 motors specified with channel numbers.
  * Set up parameters for a two wheel drive system where the
  * left and right motor pwm channels are specified in the call.
  * This call assumes Talons for controlling the motors.
- * @param leftMotorChannel The PWM channel number that drives the left motor.
- * @param rightMotorChannel The PWM channel number that drives the right motor.
+ * @param leftMotorChannel The PWM channel number that drives the left motor. 0-9 are on-board, 10-19 are on the MXP port
+ * @param rightMotorChannel The PWM channel number that drives the right motor. 0-9 are on-board, 10-19 are on the MXP port
  */
 RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
 {
@@ -68,10 +69,10 @@ RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
  * Set up parameters for a four wheel drive system where all four motor
  * pwm channels are specified in the call.
  * This call assumes Talons for controlling the motors.
- * @param frontLeftMotor Front left motor channel number
- * @param rearLeftMotor Rear Left motor channel number
- * @param frontRightMotor Front right motor channel number
- * @param rearRightMotor Rear Right motor channel number
+ * @param frontLeftMotor Front left motor channel number. 0-9 are on-board, 10-19 are on the MXP port
+ * @param rearLeftMotor Rear Left motor channel number. 0-9 are on-board, 10-19 are on the MXP port
+ * @param frontRightMotor Front right motor channel number. 0-9 are on-board, 10-19 are on the MXP port
+ * @param rearRightMotor Rear Right motor channel number. 0-9 are on-board, 10-19 are on the MXP port
  */
 RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
 		uint32_t frontRightMotor, uint32_t rearRightMotor)
@@ -94,7 +95,7 @@ RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
  * The SpeedController version of the constructor enables programs to use the RobotDrive classes with
  * subclasses of the SpeedController objects, for example, versions with ramping or reshaping of
  * the curve to suit motor bias or deadband elimination.
- * @param leftMotor The left SpeedController object used to drive the robot.
+ * @param leftMotor The left SpeedController object used to drive the robot. 
  * @param rightMotor the right SpeedController object used to drive the robot.
  */
 RobotDrive::RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor)
diff --git a/wpilibc/wpilibC++Devices/src/SPI.cpp b/wpilibc/wpilibC++Devices/src/SPI.cpp
index e2abe4f0c7..4878dd9e3e 100644
--- a/wpilibc/wpilibC++Devices/src/SPI.cpp
+++ b/wpilibc/wpilibC++Devices/src/SPI.cpp
@@ -39,7 +39,9 @@ SPI::~SPI()
 
 /**
  * Configure the rate of the generated clock signal.
- * The default and maximum value is 500,000 Hz.
+ * 
+ * The default value is 500,000Hz.
+ * The maximum value is 4,000,000Hz.
  *
  * @param hz	The clock rate in Hertz.
  */
diff --git a/wpilibc/wpilibC++Devices/src/SafePWM.cpp b/wpilibc/wpilibC++Devices/src/SafePWM.cpp
index fb51f32fc4..289d5fedd9 100644
--- a/wpilibc/wpilibC++Devices/src/SafePWM.cpp
+++ b/wpilibc/wpilibC++Devices/src/SafePWM.cpp
@@ -19,7 +19,7 @@ void SafePWM::InitSafePWM()
 
 /**
  * Constructor for a SafePWM object taking a channel number.
- * @param channel The PWM channel number (0..19).
+ * @param channel The PWM channel number 0-9 are on-board, 10-19 are on the MXP port
  */
 SafePWM::SafePWM(uint32_t channel): PWM(channel)
 {
@@ -31,7 +31,7 @@ SafePWM::~SafePWM()
 	delete m_safetyHelper;
 }
 
-/*
+/**
  * Set the expiration time for the PWM object
  * @param timeout The timeout (in seconds) for this motor object
  */
diff --git a/wpilibc/wpilibC++Devices/src/SerialPort.cpp b/wpilibc/wpilibC++Devices/src/SerialPort.cpp
index b529fd142f..ff6c156055 100644
--- a/wpilibc/wpilibC++Devices/src/SerialPort.cpp
+++ b/wpilibc/wpilibC++Devices/src/SerialPort.cpp
@@ -16,6 +16,7 @@
  * Create an instance of a Serial Port class.
  *
  * @param baudRate The baud rate to configure the serial port.
+ * @param port The physical port to use
  * @param dataBits The number of data bits per transfer.  Valid values are between 5 and 8 bits.
  * @param parity Select the type of parity checking to use.
  * @param stopBits The number of stop bits to use as defined by the enum StopBits.
@@ -235,14 +236,4 @@ void SerialPort::Reset()
 	int32_t status = 0;
 	serialClear(m_port, &status);
 	wpi_setErrorWithContext(status, getHALErrorMessage(status));
-}
-
-//void SerialPort::_internalHandler(uint32_t port, uint32_t eventType, uint32_t event)
-//{
-//}
-
-//ViStatus _VI_FUNCH ioCompleteHandler (ViSession vi, ViEventType eventType, ViEvent event, ViAddr userHandle)
-//{
-//	((SerialPort*) userHandle)->_internalHandler(vi, eventType, event);
-//	return VI_SUCCESS;
-//}
+}
\ No newline at end of file
diff --git a/wpilibc/wpilibC++Devices/src/Servo.cpp b/wpilibc/wpilibC++Devices/src/Servo.cpp
index e15a5f2451..1c1f95fb3a 100644
--- a/wpilibc/wpilibC++Devices/src/Servo.cpp
+++ b/wpilibc/wpilibC++Devices/src/Servo.cpp
@@ -32,7 +32,7 @@ void Servo::InitServo()
 }
 
 /**
- * @param channel The PWM channel to which the servo is attached.
+ * @param channel The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on the MXP port
  */
 Servo::Servo(uint32_t channel) : SafePWM(channel)
 {
diff --git a/wpilibc/wpilibC++Devices/src/Solenoid.cpp b/wpilibc/wpilibC++Devices/src/Solenoid.cpp
index 377d85b19d..85f644f0fe 100644
--- a/wpilibc/wpilibC++Devices/src/Solenoid.cpp
+++ b/wpilibc/wpilibC++Devices/src/Solenoid.cpp
@@ -42,9 +42,9 @@ void Solenoid::InitSolenoid()
 }
 
 /**
- * Constructor.
+ * Constructor using the default PCM ID (0).
  *
- * @param channel The channel on the solenoid module to control (1..8).
+ * @param channel The channel on the PCM to control (0..7).
  */
 Solenoid::Solenoid(uint32_t channel)
 	: SolenoidBase (GetDefaultSolenoidModule())
@@ -56,8 +56,8 @@ Solenoid::Solenoid(uint32_t channel)
 /**
  * Constructor.
  *
- * @param moduleNumber The solenoid module (1 or 2).
- * @param channel The channel on the solenoid module to control (1..8).
+ * @param moduleNumber The CAN ID of the PCM the solenoid is attached to
+ * @param channel The channel on the PCM to control (0..7).
  */
 Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
 	: SolenoidBase (moduleNumber)
diff --git a/wpilibc/wpilibC++Devices/src/SolenoidBase.cpp b/wpilibc/wpilibC++Devices/src/SolenoidBase.cpp
index eacacef5c6..9b045c6f51 100644
--- a/wpilibc/wpilibC++Devices/src/SolenoidBase.cpp
+++ b/wpilibc/wpilibC++Devices/src/SolenoidBase.cpp
@@ -12,7 +12,7 @@ Resource *SolenoidBase::m_allocated = NULL;
 /**
  * Constructor
  * 
- * @param moduleNumber The solenoid module (1 or 2).
+ * @param moduleNumber The CAN PCM ID.
  */
 SolenoidBase::SolenoidBase(uint8_t moduleNumber)
 	: m_moduleNumber (moduleNumber)
diff --git a/wpilibc/wpilibC++Devices/src/Talon.cpp b/wpilibc/wpilibC++Devices/src/Talon.cpp
index 5d19bfc016..acd5f26cb3 100644
--- a/wpilibc/wpilibC++Devices/src/Talon.cpp
+++ b/wpilibc/wpilibC++Devices/src/Talon.cpp
@@ -17,11 +17,11 @@
  * the deadband or inability to saturate the controller in either direction, calibration is recommended.
  * The calibration procedure can be found in the Talon User Manual available from CTRE.
  *
- *   - 211 = full "forward"
- *   - 133 = the "high end" of the deadband range
- *   - 129 = center of the deadband range (off)
- *   - 125 = the "low end" of the deadband range
- *   - 49 = full "reverse"
+ *   2.037ms = full "forward"
+ *   1.539ms = the "high end" of the deadband range
+ *   1.513ms = center of the deadband range (off)
+ *   1.487ms = the "low end" of the deadband range
+ *   0.989ms = full "reverse"
  */
 void Talon::InitTalon() {
 	SetBounds(2.037, 1.539, 1.513, 1.487, .989);
@@ -34,7 +34,8 @@ void Talon::InitTalon() {
 }
 
 /**
- * @param channel The PWM channel that the Talon is attached to.
+ * Constructor for a Talon (original or Talon SR)
+ * @param channel The PWM channel number that the Talon is attached to. 0-9 are on-board, 10-19 are on the MXP port
  */
 Talon::Talon(uint32_t channel) : SafePWM(channel)
 {
diff --git a/wpilibc/wpilibC++Devices/src/TalonSRX.cpp b/wpilibc/wpilibC++Devices/src/TalonSRX.cpp
index d96b56465b..cc69358325 100644
--- a/wpilibc/wpilibC++Devices/src/TalonSRX.cpp
+++ b/wpilibc/wpilibC++Devices/src/TalonSRX.cpp
@@ -13,10 +13,14 @@
  * Common initialization code called by all constructors.
  *
  * Note that the TalonSRX uses the following bounds for PWM values. These values should work reasonably well for
- * most controllers, but if users experience issues such as asymmetric behavior around
+ * most controllers, but if users experience issues such as asymmetric behaviour around
  * the deadband or inability to saturate the controller in either direction, calibration is recommended.
  * The calibration procedure can be found in the TalonSRX User Manual available from Cross The Road Electronics.
- *
+ *   2.004ms = full "forward"
+ *   1.52ms = the "high end" of the deadband range
+ *   1.50ms = center of the deadband range (off)
+ *   1.48ms = the "low end" of the deadband range
+ *   0.997ms = full "reverse"
  */
 void TalonSRX::InitTalonSRX() {
 	SetBounds(2.004, 1.52, 1.50, 1.48, .997);
@@ -29,7 +33,8 @@ void TalonSRX::InitTalonSRX() {
 }
 
 /**
- * @param channel The PWM channel that the TalonSRX is attached to.
+ * Construct a TalonSRX connected via PWM
+ * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are on-board, 10-19 are on the MXP port
  */
 TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel)
 {
diff --git a/wpilibc/wpilibC++Devices/src/Timer.cpp b/wpilibc/wpilibC++Devices/src/Timer.cpp
index e39cd40ac4..85b2653a45 100644
--- a/wpilibc/wpilibC++Devices/src/Timer.cpp
+++ b/wpilibc/wpilibC++Devices/src/Timer.cpp
@@ -28,10 +28,10 @@ void Wait(double seconds)
 	delaySeconds(seconds);
 }
 
-/*
+/**
  * Return the FPGA system clock time in seconds.
  * This is deprecated and just forwards to Timer::GetFPGATimestamp().
- * @returns Robot running time in seconds.
+ * @return Robot running time in seconds.
  */
 double GetClock()
 {
@@ -80,7 +80,7 @@ Timer::~Timer()
  * the current system clock the start time stored in the timer class. If the clock
  * is not running, then return the time when it was last stopped.
  *
- * @return unsigned Current time value for this timer in seconds
+ * @return Current time value for this timer in seconds
  */
 double Timer::Get()
 {
@@ -158,7 +158,7 @@ void Timer::Stop()
  * work without drifting later by the time it took to get around to checking.
  *
  * @param period The period to check for (in seconds).
- * @return If the period has passed.
+ * @return True if the period has passed.
  */
 bool Timer::HasPeriodPassed(double period)
 {
@@ -166,14 +166,14 @@ bool Timer::HasPeriodPassed(double period)
 	{
 		Synchronized sync(m_semaphore);
 		// Advance the start time by the period.
-		// Don't set it to the current time... we want to avoid drift.
 		m_startTime += period;
+		// Don't set it to the current time... we want to avoid drift.
 		return true;
 	}
 	return false;
 }
 
-/*
+/**
  * Return the FPGA system clock time in seconds.
  *
  * Return the time from the FPGA hardware clock in seconds since the FPGA
diff --git a/wpilibc/wpilibC++Devices/src/Utility.cpp b/wpilibc/wpilibC++Devices/src/Utility.cpp
index 2f72d0e7e1..d94472b7b8 100644
--- a/wpilibc/wpilibC++Devices/src/Utility.cpp
+++ b/wpilibc/wpilibC++Devices/src/Utility.cpp
@@ -21,7 +21,7 @@
 static bool suspendOnAssertEnabled = false;
 
 /**
- * Enable suspend on asssert.
+ * Enable suspend on assert.
  * If enabled, the user task will be suspended whenever an assert fails. This
  * will allow the user to attach to the task with the debugger and examine variables
  * around the failure.
@@ -204,7 +204,7 @@ uint32_t GetFPGATime()
 
 /**
  * Get the state of the "USER" button on the RoboRIO
- * @return true if the button is currently pressed down
+ * @return True if the button is currently pressed down
  */
 bool GetUserButton()
 {
@@ -247,6 +247,7 @@ static std::string demangle(char const *mangledSymbol)
 
 /**
  * Get a stack trace, ignoring the first "offset" symbols.
+ * @param offset The number of symbols at the top of the stack to ignore
  */
 std::string GetStackTrace(uint32_t offset)
 {
diff --git a/wpilibc/wpilibC++Devices/src/Victor.cpp b/wpilibc/wpilibC++Devices/src/Victor.cpp
index c5a8e7e62b..ee26c4d338 100644
--- a/wpilibc/wpilibC++Devices/src/Victor.cpp
+++ b/wpilibc/wpilibC++Devices/src/Victor.cpp
@@ -14,15 +14,15 @@
  *
  * Note that the Victor uses the following bounds for PWM values.  These values were determined
  * empirically and optimized for the Victor 888. These values should work reasonably well for
- * Victor 884 controllers as well but if users experience issues such as asymmetric behavior around
+ * Victor 884 controllers as well but if users experience issues such as asymmetric behaviour around
  * the deadband or inability to saturate the controller in either direction, calibration is recommended.
  * The calibration procedure can be found in the Victor 884 User Manual available from IFI.
  *
- *   - 206 = full "forward"
- *   - 131 = the "high end" of the deadband range
- *   - 128 = center of the deadband range (off)
- *   - 125 = the "low end" of the deadband range
- *   - 56 = full "reverse"
+ *   2.027ms = full "forward"
+ *   1.525ms = the "high end" of the deadband range
+ *   1.507ms = center of the deadband range (off)
+ *   1.49ms = the "low end" of the deadband range
+ *   1.026ms = full "reverse"
  */
 void Victor::InitVictor() {
 	SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
@@ -36,7 +36,8 @@ void Victor::InitVictor() {
 }
 
 /**
- * @param channel The PWM channel that the Victor is attached to.
+ * Constructor for a Victor
+ * @param channel The PWM channel number that the Victor is attached to. 0-9 are on-board, 10-19 are on the MXP port
  */
 Victor::Victor(uint32_t channel) : SafePWM(channel)
 {
diff --git a/wpilibc/wpilibC++Devices/src/VictorSP.cpp b/wpilibc/wpilibC++Devices/src/VictorSP.cpp
index cf2dfd7d97..dbb919e3a2 100644
--- a/wpilibc/wpilibC++Devices/src/VictorSP.cpp
+++ b/wpilibc/wpilibC++Devices/src/VictorSP.cpp
@@ -17,6 +17,11 @@
  * the deadband or inability to saturate the controller in either direction, calibration is recommended.
  * The calibration procedure can be found in the VictorSP User Manual available from Vex.
  *
+ *   2.004ms = full "forward"
+ *   1.52ms = the "high end" of the deadband range
+ *   1.50ms = center of the deadband range (off)
+ *   1.48ms = the "low end" of the deadband range
+ *   0.997ms = full "reverse"
  */
 void VictorSP::InitVictorSP() {
 	SetBounds(2.004, 1.52, 1.50, 1.48, .997);
@@ -29,7 +34,8 @@ void VictorSP::InitVictorSP() {
 }
 
 /**
- * @param channel The PWM channel that the VictorSP is attached to.
+ * Constructor for a VictorSP 
+ * @param channel The PWM channel that the VictorSP is attached to. 0-9 are on-board, 10-19 are on the MXP port
  */
 VictorSP::VictorSP(uint32_t channel) : SafePWM(channel)
 {