diff --git a/wpilibc/src/main/native/include/frc/RobotBase.h b/wpilibc/src/main/native/include/frc/RobotBase.h
index ca8b36e02c..112c28122a 100644
--- a/wpilibc/src/main/native/include/frc/RobotBase.h
+++ b/wpilibc/src/main/native/include/frc/RobotBase.h
@@ -115,14 +115,14 @@ int StartRobot() {
 }
 
 /**
- * Implement a Robot Program framework.
+ * Implement a Robot Program framework. The RobotBase class is intended to be
+ * subclassed to create a robot program. The user must implement
+ * StartCompetition() which will be called once and is not expected to exit. The
+ * user must also implement EndCompetition(), which signals to the code in
+ * StartCompetition() that it should exit.
  *
- * The RobotBase class is intended to be subclassed by a user creating a robot
- * program. Overridden Autonomous() and OperatorControl() methods are called at
- * the appropriate time as the match proceeds. In the current implementation,
- * the Autonomous code will run to completion before the OperatorControl code
- * could start. In the future the Autonomous code might be spawned as a task,
- * then killed at the end of the Autonomous period.
+ * It is not recommended to subclass this class directly - instead subclass
+ * IterativeRobotBase or TimedRobot.
  */
 class RobotBase {
  public:
@@ -193,8 +193,13 @@ class RobotBase {
    */
   static std::thread::id GetThreadId();
 
+  /**
+   * Start the main robot code. This function will be called once and should not
+   * exit until signalled by EndCompetition()
+   */
   virtual void StartCompetition() = 0;
 
+  /** Ends the main loop in StartCompetition(). */
   virtual void EndCompetition() = 0;
 
   /**
@@ -229,7 +234,7 @@ class RobotBase {
   /**
    * Constructor for a generic robot program.
    *
-   * User code should be placed in the constructor that runs before the
+   * User code can be placed in the constructor that runs before the
    * Autonomous or Operator Control period starts. The constructor will run to
    * completion before Autonomous is entered.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index 8b95f090db..b6f0e75622 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -29,11 +29,13 @@ import java.util.concurrent.locks.ReentrantLock;
 import java.util.function.Supplier;
 
 /**
- * Implement a Robot Program framework. The RobotBase class is intended to be subclassed by a user
- * creating a robot program. Overridden autonomous() and operatorControl() methods are called at the
- * appropriate time as the match proceeds. In the current implementation, the Autonomous code will
- * run to completion before the OperatorControl code could start. In the future the Autonomous code
- * might be spawned as a task, then killed at the end of the Autonomous period.
+ * Implement a Robot Program framework. The RobotBase class is intended to be subclassed to create a
+ * robot program. The user must implement {@link #startCompetition()}, which will be called once and
+ * is not expected to exit. The user must also implement {@link #endCompetition()}, which signals to
+ * the code in {@link #startCompetition()} that it should exit.
+ *
+ * <p>It is not recommended to subclass this class directly - instead subclass IterativeRobotBase or
+ * TimedRobot.
  */
 public abstract class RobotBase implements AutoCloseable {
   /** The ID of the main Java thread. */
@@ -138,9 +140,9 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /**
-   * Constructor for a generic robot program. User code should be placed in the constructor that
-   * runs before the Autonomous or Operator Control period starts. The constructor will run to
-   * completion before Autonomous is entered.
+   * Constructor for a generic robot program. User code can be placed in the constructor that runs
+   * before the Autonomous or Operator Control period starts. The constructor will run to completion
+   * before Autonomous is entered.
    *
    * <p>This must be used to ensure that the communications code starts. In the future it would be
    * nice to put this code into its own task that loads on boot so ensure that it runs.
@@ -288,10 +290,13 @@ public abstract class RobotBase implements AutoCloseable {
     return DriverStation.isTeleopEnabled();
   }
 
-  /** Provide an alternate "main loop" via startCompetition(). */
+  /**
+   * Start the main robot code. This function will be called once and should not exit until
+   * signalled by {@link #endCompetition()}
+   */
   public abstract void startCompetition();
 
-  /** Ends the main loop in startCompetition(). */
+  /** Ends the main loop in {@link #startCompetition()}. */
   public abstract void endCompetition();
 
   private static final ReentrantLock m_runMutex = new ReentrantLock();