This transforms the Pose3ds returned by {@link #getTagPose(int)} to return the correct pose - * relative to a predefined coordinate frame. + *
This transforms the Pose3d objects returned by {@link #getTagPose(int)} to return the + * correct pose relative to a predefined coordinate frame. * * @param origin The predefined origin */ @@ -139,8 +139,8 @@ public class AprilTagFieldLayout { /** * Sets the origin for tag pose transformation. * - *
This transforms the Pose3ds returned by {@link #getTagPose(int)} to return the correct pose - * relative to the provided origin. + *
This transforms the Pose3d objects returned by {@link #getTagPose(int)} to return the + * correct pose relative to the provided origin. * * @param origin The new origin for tag transformations */ diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java index 11241794cc..0383099495 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java @@ -13,7 +13,7 @@ import java.util.function.BooleanSupplier; /** * A state machine representing a complete action to be performed by the robot. Commands are run by * the {@link CommandScheduler}, and can be composed into CommandGroups to allow users to build - * complicated multi-step actions without the need to roll the state machine logic themselves. + * complicated multistep actions without the need to roll the state machine logic themselves. * *
Commands are run synchronously from the main robot loop; no multithreading is used, unless * specified explicitly from the command implementation. @@ -299,7 +299,7 @@ public interface Command { /** * Decorates this command to only run if this condition is not met. If the command is already * running and the condition changes to true, the command will not stop running. The requirements - * of this command will be kept for the new conditonal command. + * of this command will be kept for the new conditional command. * * @param condition the condition that will prevent the command from running * @return the decorated command @@ -390,8 +390,8 @@ public interface Command { } /** - * Whether or not the command is currently scheduled. Note that this does not detect whether the - * command is in a composition, only whether it is directly being run by the scheduler. + * Whether the command is currently scheduled. Note that this does not detect whether the command + * is in a composition, only whether it is directly being run by the scheduler. * * @return Whether the command is scheduled. */ diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java index 9b023cecce..76d3cb1984 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java @@ -218,7 +218,7 @@ public class MecanumControllerCommand extends CommandBase { * trajectory. The user should implement a velocity PID on the desired output wheel velocities. * *
Note: The controllers will *not* set the outputVolts to zero upon completion of the path - - * this is left to the user, since it is not appropriate for paths with non-stationary end-states. + * this is left to the user, since it is not appropriate for paths with nonstationary end-states. * * @param trajectory The trajectory to follow. * @param pose A function that supplies the robot pose - use one of the odometry classes to @@ -286,7 +286,7 @@ public class MecanumControllerCommand extends CommandBase { * trajectory. The user should implement a velocity PID on the desired output wheel velocities. * *
Note: The controllers will *not* set the outputVolts to zero upon completion of the path - - * this is left to the user, since it is not appropriate for paths with non-stationary end-states. + * this is left to the user, since it is not appropriate for paths with nonstationary end-states. * *
Note 2: The final rotation of the robot will be set to the rotation of the final pose in the * trajectory. The robot will not follow the rotations from the poses at each timestep. If diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java index 9ef82923a0..eec1b1809a 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java @@ -9,7 +9,7 @@ import java.util.Set; /** * Schedules the given commands when this command is initialized, and ends when all the commands are * no longer scheduled. Useful for forking off from CommandGroups. If this command is interrupted, - * it will cancel all of the commands. + * it will cancel all the commands. * *
This class is provided by the NewCommands VendorDep */ diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java index 5305115197..30ad7862f9 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java @@ -29,7 +29,7 @@ public class SelectCommand extends CommandBase { private InterruptionBehavior m_interruptBehavior = InterruptionBehavior.kCancelIncoming; /** - * Creates a new selectcommand. + * Creates a new SelectCommand. * * @param commands the map of commands to choose from * @param selector the selector to determine which command to run @@ -53,7 +53,7 @@ public class SelectCommand extends CommandBase { } /** - * Creates a new selectcommand. + * Creates a new SelectCommand. * * @param toRun a supplier providing the command to run * @deprecated Replace with {@link ProxyCommand} diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java index f8457b10c7..0584ced2b2 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java @@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj2.command; /** * A robot subsystem. Subsystems are the basic unit of robot organization in the Command-based - * framework; they encapsulate low-level hardware objects (motor controllers, sensors, etc) and + * framework; they encapsulate low-level hardware objects (motor controllers, sensors, etc.) and * provide methods through which they can be used by {@link Command}s. Subsystems are used by the * {@link CommandScheduler}'s resource management system to ensure multiple robot actions are not * "fighting" over the same hardware; Commands that use a subsystem should include that subsystem in diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java index 1db7dd4383..850699e251 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java @@ -45,8 +45,9 @@ public class SwerveControllerCommand extends CommandBase { * trajectory. This command will not return output voltages but rather raw module states from the * position controllers which need to be put into a velocity PID. * - *
Note: The controllers will *not* set the outputVolts to zero upon completion of the path- - * this is left to the user, since it is not appropriate for paths with nonstationary endstates. + *
Note: The controllers will *not* set the outputVolts to zero upon completion of the path. + * This is left to the user to do since it is not appropriate for paths with nonstationary + * endstates. * * @param trajectory The trajectory to follow. * @param pose A function that supplies the robot pose - use one of the odometry classes to @@ -88,8 +89,8 @@ public class SwerveControllerCommand extends CommandBase { * trajectory. This command will not return output voltages but rather raw module states from the * position controllers which need to be put into a velocity PID. * - *
Note: The controllers will *not* set the outputVolts to zero upon completion of the path- - * this is left to the user, since it is not appropriate for paths with nonstationary endstates. + *
Note: The controllers will *not* set the outputVolts to zero upon completion of the path. + * This is left to the user since it is not appropriate for paths with nonstationary endstates. * *
Note 2: The final rotation of the robot will be set to the rotation of the final pose in the * trajectory. The robot will not follow the rotations from the poses at each timestep. If diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java index 4e748ced32..4e4e11a818 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java @@ -33,7 +33,7 @@ public class Button extends Trigger { /** * Creates a new button with the given condition determining whether it is pressed. * - * @param isPressed returns whether or not the trigger should be active + * @param isPressed returns whether the trigger should be active * @deprecated Replace with Trigger. */ @Deprecated @@ -141,8 +141,8 @@ public class Button extends Trigger { } /** - * Toggles the command whenever the button is pressed (on then off then on). The command is set to - * be interruptible. + * Toggles the command whenever the button is pressed (on, then off, then on). The command is set + * to be interruptible. * * @param command the command to start * @return this button, so calls can be chained diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java index c393862f18..fadff92261 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java @@ -62,7 +62,7 @@ public class CommandGenericHID { * attached to {@link CommandScheduler#getDefaultButtonLoop() the default command scheduler button * loop}. * - *
The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90, + *
The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90, * upper-left is 315). * * @param angle POV angle in degrees, or -1 for the center / not pressed. @@ -75,7 +75,7 @@ public class CommandGenericHID { /** * Constructs a Trigger instance based around this angle of a POV on the HID. * - *
The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90, + *
The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90, * upper-left is 315). * * @param pov index of the POV to read (starting at 0). Defaults to 0. @@ -89,88 +89,88 @@ public class CommandGenericHID { } /** - * Constructs a Trigger instance based around the 0-degree angle (up) of the default (index 0) POV + * Constructs a Trigger instance based around the 0 degree angle (up) of the default (index 0) POV * on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command * scheduler button loop}. * - * @return a Trigger instance based around the 0-degree angle of a POV on the HID. + * @return a Trigger instance based around the 0 degree angle of a POV on the HID. */ public Trigger povUp() { return pov(0); } /** - * Constructs a Trigger instance based around the 45-degree angle (right up) of the default (index + * Constructs a Trigger instance based around the 45 degree angle (right up) of the default (index * 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default * command scheduler button loop}. * - * @return a Trigger instance based around the 45-degree angle of a POV on the HID. + * @return a Trigger instance based around the 45 degree angle of a POV on the HID. */ public Trigger povUpRight() { return pov(45); } /** - * Constructs a Trigger instance based around the 90-degree angle (right) of the default (index 0) + * Constructs a Trigger instance based around the 90 degree angle (right) of the default (index 0) * POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command * scheduler button loop}. * - * @return a Trigger instance based around the 90-degree angle of a POV on the HID. + * @return a Trigger instance based around the 90 degree angle of a POV on the HID. */ public Trigger povRight() { return pov(90); } /** - * Constructs a Trigger instance based around the 135-degree angle (right down) of the default + * Constructs a Trigger instance based around the 135 degree angle (right down) of the default * (index 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the * default command scheduler button loop}. * - * @return a Trigger instance based around the 135-degree angle of a POV on the HID. + * @return a Trigger instance based around the 135 degree angle of a POV on the HID. */ public Trigger povDownRight() { return pov(135); } /** - * Constructs a Trigger instance based around the 180-degree angle (down) of the default (index 0) + * Constructs a Trigger instance based around the 180 degree angle (down) of the default (index 0) * POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command * scheduler button loop}. * - * @return a Trigger instance based around the 180-degree angle of a POV on the HID. + * @return a Trigger instance based around the 180 degree angle of a POV on the HID. */ public Trigger povDown() { return pov(180); } /** - * Constructs a Trigger instance based around the 225-degree angle (down left) of the default + * Constructs a Trigger instance based around the 225 degree angle (down left) of the default * (index 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the * default command scheduler button loop}. * - * @return a Trigger instance based around the 225-degree angle of a POV on the HID. + * @return a Trigger instance based around the 225 degree angle of a POV on the HID. */ public Trigger povDownLeft() { return pov(225); } /** - * Constructs a Trigger instance based around the 270-degree angle (left) of the default (index 0) + * Constructs a Trigger instance based around the 270 degree angle (left) of the default (index 0) * POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default command * scheduler button loop}. * - * @return a Trigger instance based around the 270-degree angle of a POV on the HID. + * @return a Trigger instance based around the 270 degree angle of a POV on the HID. */ public Trigger povLeft() { return pov(270); } /** - * Constructs a Trigger instance based around the 315-degree angle (left up) of the default (index + * Constructs a Trigger instance based around the 315 degree angle (left up) of the default (index * 0) POV on the HID, attached to {@link CommandScheduler#getDefaultButtonLoop() the default * command scheduler button loop}. * - * @return a Trigger instance based around the 315-degree angle of a POV on the HID. + * @return a Trigger instance based around the 315 degree angle of a POV on the HID. */ public Trigger povUpLeft() { return pov(315); diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java index 65bf55bef8..3106264389 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java @@ -8,7 +8,7 @@ import java.util.concurrent.atomic.AtomicBoolean; /** * This class is intended to be used within a program. The programmer can manually set its value. - * Also includes a setting for whether or not it should invert its value. + * Also includes a setting for whether it should invert its value. * *
This class is provided by the NewCommands VendorDep */ diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h index b657f3d649..189433bf11 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h @@ -238,7 +238,7 @@ safe) semantics. * Decorates this command to only run if this condition is not met. If the * command is already running and the condition changes to true, the command * will not stop running. The requirements of this command will be kept for - * the new conditonal command. + * the new conditional command. * * @param condition the condition that will prevent the command from running * @return the decorated command diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h index 70800f4ffa..0ab1e97186 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h @@ -163,7 +163,7 @@ class CommandPtr final { * Decorates this command to only run if this condition is not met. If the * command is already running and the condition changes to true, the command * will not stop running. The requirements of this command will be kept for - * the new conditonal command. + * the new conditional command. * * @param condition the condition that will prevent the command from running * @return the decorated command diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h index 4f5debd25b..8ebdbe074b 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h @@ -268,7 +268,7 @@ class MecanumControllerCommand * *
Note: The controllers will *not* set the outputVolts to zero upon * completion of the path - this is left to the user, since it is not - * appropriate for paths with non-stationary end-states. + * appropriate for paths with nonstationary end-states. * * @param trajectory The trajectory to follow. * @param pose A function that supplies the robot pose - use one @@ -306,7 +306,7 @@ class MecanumControllerCommand * *
Note: The controllers will *not* set the outputVolts to zero upon * completion of the path - this is left to the user, since it is not - * appropriate for paths with non-stationary end-states. + * appropriate for paths with nonstationary end-states. * *
Note 2: The final rotation of the robot will be set to the rotation of * the final pose in the trajectory. The robot will not follow the rotations @@ -346,7 +346,7 @@ class MecanumControllerCommand * *
Note: The controllers will *not* set the outputVolts to zero upon * completion of the path - this is left to the user, since it is not - * appropriate for paths with non-stationary end-states. + * appropriate for paths with nonstationary end-states. * * @param trajectory The trajectory to follow. * @param pose A function that supplies the robot pose - use one @@ -384,7 +384,7 @@ class MecanumControllerCommand * *
Note: The controllers will *not* set the outputVolts to zero upon * completion of the path - this is left to the user, since it is not - * appropriate for paths with non-stationary end-states. + * appropriate for paths with nonstationary end-states. * *
Note2: The final rotation of the robot will be set to the rotation of
* the final pose in the trajectory. The robot will not follow the rotations
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
index 69c99f0de0..943b62f37d 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h
@@ -59,7 +59,7 @@ class ParallelCommandGroup
ParallelCommandGroup(ParallelCommandGroup&& other) = default;
- // No copy constructors for commandgroups
+ // No copy constructors for command groups
ParallelCommandGroup(const ParallelCommandGroup&) = delete;
// Prevent template expansion from emulating copy ctor
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
index 6b0852b011..7079afe18f 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h
@@ -38,7 +38,7 @@ template Calling this is an expensive call, so its best to call it once, then just update data.
+ * Calling this is an expensive call, so it's best to call it once, then just update data.
*
* The max length is 5460 LEDs.
*
@@ -53,7 +53,7 @@ public class AddressableLED implements AutoCloseable {
}
/**
- * Sets the led output data.
+ * Sets the LED output data.
*
* If the output is enabled, this will start writing the next data cycle. It is safe to call,
* even while output is enabled.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
index 83c93416e2..8e458694e0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
@@ -144,9 +144,9 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
/**
* Set the distance per rotation of the encoder. This sets the multiplier used to determine the
- * distance driven based on the rotation value from the encoder. Set this value based on the how
- * far the mechanism travels in 1 rotation of the encoder, and factor in gearing reductions
- * following the encoder shaft. This distance can be in any units you like, linear or angular.
+ * distance driven based on the rotation value from the encoder. Set this value based on how far
+ * the mechanism travels in 1 rotation of the encoder, and factor in gearing reductions following
+ * the encoder shaft. This distance can be in any units you like, linear or angular.
*
* @param distancePerRotation the distance per rotation of the encoder
*/
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
index e3bedcbf48..e90bfd26d5 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
@@ -107,8 +107,8 @@ public class AnalogInput implements Sendable, AutoCloseable {
}
/**
- * Get the factory scaling least significant bit weight constant. The least significant bit weight
- * constant for the channel that was calibrated in manufacturing and stored in an eeprom.
+ * Get the factory scaling the least significant bit weight constant. The least significant bit
+ * weight constant for the channel that was calibrated in manufacturing and stored in an eeprom.
*
* Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
*
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
index 4a5bd75724..7d5858574d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
@@ -23,8 +23,8 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable {
* AnalogPotentiometer constructor.
*
* Use the fullRange and offset values so that the output produces meaningful values. I.E: you
- * have a 270 degree potentiometer and you want the output to be degrees with the halfway point as
- * 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway
+ * have a 270 degree potentiometer, and you want the output to be degrees with the halfway point
+ * as 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway
* point after scaling is 135 degrees. This will calculate the result from the fullRange times the
* fraction of the supply voltage, plus the offset.
*
@@ -43,8 +43,8 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable {
* AnalogPotentiometer constructor.
*
* Use the fullRange and offset values so that the output produces meaningful values. I.E: you
- * have a 270 degree potentiometer and you want the output to be degrees with the halfway point as
- * 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway
+ * have a 270 degree potentiometer, and you want the output to be degrees with the halfway point
+ * as 0 degrees. The fullRange value is 270.0(degrees) and the offset is -135.0 since the halfway
* point after scaling is 135 degrees. This will calculate the result from the fullRange times the
* fraction of the supply voltage, plus the offset.
*
@@ -66,7 +66,7 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable {
* AnalogPotentiometer constructor.
*
* Use the scale value so that the output produces meaningful values. I.E: you have a 270
- * degree potentiometer and you want the output to be degrees with the starting point as 0
+ * degree potentiometer, and you want the output to be degrees with the starting point as 0
* degrees. The scale value is 270.0(degrees).
*
* @param channel The analog input channel this potentiometer is plugged into. 0-3 are on-board
@@ -81,7 +81,7 @@ public class AnalogPotentiometer implements Sendable, AutoCloseable {
* AnalogPotentiometer constructor.
*
* Use the fullRange and offset values so that the output produces meaningful values. I.E: you
- * have a 270 degree potentiometer and you want the output to be degrees with the starting point
+ * have a 270 degree potentiometer, and you want the output to be degrees with the starting point
* as 0 degrees. The scale value is 270.0(degrees).
*
* @param input The {@link AnalogInput} this potentiometer is plugged into.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
index e1c04ec6d5..0f37edc251 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
@@ -22,8 +22,8 @@ import edu.wpi.first.util.sendable.SendableBuilder;
* upper limit, then the output is true. If the analog value is in between, then the trigger output
* state maintains its most recent value.
*
- * The InWindow output indicates whether or not the analog signal is inside the range defined by
- * the limits.
+ * The InWindow output indicates whether the analog signal is inside the range defined by the
+ * limits.
*
* The RisingPulse and FallingPulse outputs detect an instantaneous transition from above the
* upper limit to below the lower limit, and vise versa. These pulses represent a rollover condition
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
index 3dc6c1d79e..77ccb3741b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CAN.java
@@ -149,7 +149,7 @@ public class CAN implements Closeable {
}
/**
- * Read a CAN packet. The will continuously return the last packet received, without accounting
+ * Read a CAN packet. This will continuously return the last packet received, without accounting
* for packet age.
*
* @param apiId The API ID to read.
@@ -161,7 +161,7 @@ public class CAN implements Closeable {
}
/**
- * Read a CAN packet. The will return the last packet received until the packet is older then the
+ * Read a CAN packet. This will return the last packet received until the packet is older than the
* requested timeout. Then it will return false.
*
* @param apiId The API ID to read.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
index 735a8cf0c8..01483abff3 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java
@@ -385,7 +385,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
}
/**
- * Reset the Counter to zero. Set the counter value to zero. This doesn't effect the running state
+ * Reset the Counter to zero. Set the counter value to zero. This doesn't affect the running state
* of the counter, just sets the current value to zero.
*/
@Override
@@ -425,7 +425,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
/**
* Determine if the clock is stopped. Determine if the clocked input is stopped based on the
* MaxPeriod value set using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the
- * device (and counter) are assumed to be stopped and it returns true.
+ * device (and counter) are assumed to be stopped and the method will return true.
*
* @return true if the most recent counter period exceeds the MaxPeriod value set by SetMaxPeriod.
*/
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CounterBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CounterBase.java
index 735b893048..60d56909d3 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/CounterBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/CounterBase.java
@@ -6,14 +6,14 @@ package edu.wpi.first.wpilibj;
/**
* Interface for counting the number of ticks on a digital input channel. Encoders, Gear tooth
- * sensors, and counters should all subclass this so it can be used to build more advanced classes
- * for control and driving.
+ * sensors, and counters should all subclass this in order to build more advanced classes for
+ * control and driving.
*
* All counters will immediately start counting - reset() them if you need them to be zeroed
* before use.
*/
public interface CounterBase {
- /** The number of edges for the counterbase to increment or decrement on. */
+ /** The number of edges for the CounterBase to increment or decrement on. */
enum EncodingType {
/** Count only the rising edge. */
k1X(0),
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
index abcc67b967..3422d34a97 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
@@ -15,7 +15,7 @@ import java.util.concurrent.locks.ReentrantLock;
/**
* Class to enable glitch filtering on a set of digital inputs. This class will manage adding and
- * removing digital inputs from a FPGA glitch filter. The filter lets the user configure the time
+ * removing digital inputs from an FPGA glitch filter. The filter lets the user configure the time
* that an input must remain high or low before it is classified as high or low.
*/
public class DigitalGlitchFilter implements Sendable, AutoCloseable {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
index 43af5c7b69..78e8bedbe2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -138,7 +138,7 @@ public class DigitalOutput extends DigitalSource implements Sendable {
*
* Allocate one of the 6 DO PWM generator resources.
*
- * Supply the initial duty-cycle to output so as to avoid a glitch when first starting.
+ * Supply the initial duty-cycle to output in order to avoid a glitch when first starting.
*
* The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced
* the higher the frequency of the PWM signal is.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index 139e2edc27..e9d593cd1d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -1160,7 +1160,7 @@ public final class DriverStation {
public static void refreshData() {
DriverStationJNI.refreshDSData();
- // Get the status of all of the joysticks
+ // Get the status of all the joysticks
for (byte stick = 0; stick < kJoystickPorts; stick++) {
m_joystickAxesCache[stick].m_count =
DriverStationJNI.getJoystickAxes(stick, m_joystickAxesCache[stick].m_axes);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
index fc097a1e0b..dd78860e52 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
@@ -200,9 +200,9 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
/**
* Set the distance per rotation of the encoder. This sets the multiplier used to determine the
- * distance driven based on the rotation value from the encoder. Set this value based on the how
- * far the mechanism travels in 1 rotation of the encoder, and factor in gearing reductions
- * following the encoder shaft. This distance can be in any units you like, linear or angular.
+ * distance driven based on the rotation value from the encoder. Set this value based on how far
+ * the mechanism travels in 1 rotation of the encoder, and factor in gearing reductions following
+ * the encoder shaft. This distance can be in any units you like, linear or angular.
*
* @param distancePerRotation the distance per rotation of the encoder
*/
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
index 54cca78d50..24762721ab 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
@@ -42,9 +42,9 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
}
}
- /** The a source. */
+ /** The 'a' source. */
protected DigitalSource m_aSource; // the A phase of the quad encoder
- /** The b source. */
+ /** The 'b' source. */
protected DigitalSource m_bSource; // the B phase of the quad encoder
/** The index source. */
protected DigitalSource m_indexSource; // Index on some encoders
@@ -84,8 +84,8 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
*
* The encoder will start counting immediately.
*
- * @param channelA The a channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
- * @param channelB The b channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
+ * @param channelA The 'a' channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
+ * @param channelB 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.
*/
@@ -94,7 +94,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
}
/**
- * Encoder constructor. Construct a Encoder given a and b channels.
+ * Encoder constructor. Construct an Encoder given a and b channels.
*
* The encoder will start counting immediately.
*
@@ -106,7 +106,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
}
/**
- * Encoder constructor. Construct a Encoder given a and b channels.
+ * Encoder constructor. Construct an Encoder given a and b channels.
*
* The encoder will start counting immediately.
*
@@ -117,7 +117,7 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
* selected, then an encoder FPGA object is used and the returned counts will be 4x the
* encoder spec'd value since all rising and falling edges are counted. If 1X or 2X are
- * selected then a m_counter object will be used and the returned value will either exactly
+ * selected, then a counter object will be used and the returned value will either exactly
* match the spec'd count or be double (2x) the spec'd count.
*/
public Encoder(
@@ -139,8 +139,8 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
}
/**
- * Encoder constructor. Construct a Encoder given a and b channels. Using an index pulse forces 4x
- * encoding
+ * Encoder constructor. Construct an Encoder given a and b channels. Using an index pulse forces
+ * 4x encoding
*
* The encoder will start counting immediately.
*
@@ -160,8 +160,8 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
}
/**
- * Encoder constructor. Construct a Encoder given a and b channels. Using an index pulse forces 4x
- * encoding
+ * Encoder constructor. Construct an Encoder given a and b channels. Using an index pulse forces
+ * 4x encoding
*
* The encoder will start counting immediately.
*
@@ -174,14 +174,14 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
}
/**
- * Encoder constructor. Construct a Encoder given a and b channels as digital inputs. This is used
- * in the case where the digital inputs are shared. The Encoder class will not allocate the
+ * Encoder constructor. Construct an Encoder given a and b channels as digital inputs. This is
+ * used in the case where the digital inputs are shared. The Encoder class will not allocate the
* digital inputs and assume that they already are counted.
*
* The encoder will start counting immediately.
*
- * @param sourceA The source that should be used for the a channel.
- * @param sourceB the source that should be used for the b channel.
+ * @param sourceA The source that should be used for the 'a' channel.
+ * @param sourceB the source that should be used for the 'b' channel.
* @param reverseDirection represents the orientation of the encoder and inverts the output values
* if necessary so forward represents positive values.
*/
@@ -190,34 +190,34 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
}
/**
- * Encoder constructor. Construct a Encoder given a and b channels as digital inputs. This is used
- * in the case where the digital inputs are shared. The Encoder class will not allocate the
+ * Encoder constructor. Construct an Encoder given a and b channels as digital inputs. This is
+ * used in the case where the digital inputs are shared. The Encoder class will not allocate the
* digital inputs and assume that they already are counted.
*
* The encoder will start counting immediately.
*
- * @param sourceA The source that should be used for the a channel.
- * @param sourceB the source that should be used for the b channel.
+ * @param sourceA The source that should be used for the 'a' channel.
+ * @param sourceB the source that should be used for the 'b' channel.
*/
public Encoder(DigitalSource sourceA, DigitalSource sourceB) {
this(sourceA, sourceB, false);
}
/**
- * Encoder constructor. Construct a Encoder given a and b channels as digital inputs. This is used
- * in the case where the digital inputs are shared. The Encoder class will not allocate the
+ * Encoder constructor. Construct an Encoder given a and b channels as digital inputs. This is
+ * used in the case where the digital inputs are shared. The Encoder class will not allocate the
* digital inputs and assume that they already are counted.
*
* The encoder will start counting immediately.
*
- * @param sourceA The source that should be used for the a channel.
- * @param sourceB the source that should be used for the b channel.
+ * @param sourceA The source that should be used for the 'a' channel.
+ * @param sourceB the source that should be used for the 'b' channel.
* @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
* selected, then an encoder FPGA object is used and the returned counts will be 4x the
* encoder spec'd value since all rising and falling edges are counted. If 1X or 2X are
- * selected then a m_counter object will be used and the returned value will either exactly
+ * selected then a counter object will be used and the returned value will either exactly
* match the spec'd count or be double (2x) the spec'd count.
*/
public Encoder(
@@ -239,14 +239,14 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
}
/**
- * Encoder constructor. Construct a Encoder given a, b and index channels as digital inputs. This
+ * Encoder constructor. Construct an Encoder given a, b and index channels as digital inputs. This
* is used in the case where the digital inputs are shared. The Encoder class will not allocate
* the digital inputs and assume that they already are counted.
*
* The encoder will start counting immediately.
*
- * @param sourceA The source that should be used for the a channel.
- * @param sourceB the source that should be used for the b channel.
+ * @param sourceA The source that should be used for the 'a' channel.
+ * @param sourceB the source that should be used for the 'b' channel.
* @param indexSource the source that should be used for the index channel.
* @param reverseDirection represents the orientation of the encoder and inverts the output values
* if necessary so forward represents positive values.
@@ -263,14 +263,14 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
}
/**
- * Encoder constructor. Construct a Encoder given a, b and index channels as digital inputs. This
+ * Encoder constructor. Construct an Encoder given a, b and index channels as digital inputs. This
* is used in the case where the digital inputs are shared. The Encoder class will not allocate
* the digital inputs and assume that they already are counted.
*
* The encoder will start counting immediately.
*
- * @param sourceA The source that should be used for the a channel.
- * @param sourceB the source that should be used for the b channel.
+ * @param sourceA The source that should be used for the 'a' channel.
+ * @param sourceB the source that should be used for the 'b' channel.
* @param indexSource the source that should be used for the index channel.
*/
public Encoder(DigitalSource sourceA, DigitalSource sourceB, DigitalSource indexSource) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Filesystem.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Filesystem.java
index 98230dbbe5..125c1e2a04 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Filesystem.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Filesystem.java
@@ -41,12 +41,11 @@ public final class Filesystem {
}
/**
- * Obtains the deploy directory of the program, which is the remote location src/main/deploy is
- * deployed to by default. On the roboRIO, this is /home/lvuser/deploy. In simulation, it is where
- * the simulation was launched from, in the subdirectory "src/main/deploy"
- * (`pwd`/src/main/deploy).
+ * Obtains the 'deploy' directory of the program, located at src/main/deploy, which is deployed by
+ * default. On the roboRIO, this is /home/lvuser/deploy. In simulation, it is where the simulation
+ * was launched from, in the subdirectory "src/main/deploy" (`pwd`/src/main/deploy).
*
- * @return The deploy directory
+ * @return The 'deploy' directory
*/
public static File getDeployDirectory() {
if (RobotBase.isReal()) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
index a89966efc9..58e55f0242 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
@@ -147,7 +147,7 @@ public class GenericHID {
/**
* Get the angle in degrees of a POV on the HID.
*
- * The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
+ * The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90,
* upper-left is 315).
*
* @param pov The index of the POV to read (starting at 0). Defaults to 0.
@@ -160,7 +160,7 @@ public class GenericHID {
/**
* Get the angle in degrees of the default POV (index 0) on the HID.
*
- * The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
+ * The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90,
* upper-left is 315).
*
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
@@ -186,7 +186,7 @@ public class GenericHID {
/**
* Constructs a BooleanEvent instance based around this angle of a POV on the HID.
*
- * The POV angles start at 0 in the up direction, and increase clockwise (eg right is 90,
+ * The POV angles start at 0 in the up direction, and increase clockwise (e.g. right is 90,
* upper-left is 315).
*
* @param pov index of the POV to read (starting at 0). Defaults to 0.
@@ -199,88 +199,88 @@ public class GenericHID {
}
/**
- * Constructs a BooleanEvent instance based around the 0-degree angle (up) of the default (index
+ * Constructs a BooleanEvent instance based around the 0 degree angle (up) of the default (index
* 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to.
- * @return a BooleanEvent instance based around the 0-degree angle of a POV on the HID.
+ * @return a BooleanEvent instance based around the 0 degree angle of a POV on the HID.
*/
public BooleanEvent povUp(EventLoop loop) {
return pov(0, loop);
}
/**
- * Constructs a BooleanEvent instance based around the 45-degree angle (right up) of the default
+ * Constructs a BooleanEvent instance based around the 45 degree angle (right up) of the default
* (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to.
- * @return a BooleanEvent instance based around the 45-degree angle of a POV on the HID.
+ * @return a BooleanEvent instance based around the 45 degree angle of a POV on the HID.
*/
public BooleanEvent povUpRight(EventLoop loop) {
return pov(45, loop);
}
/**
- * Constructs a BooleanEvent instance based around the 90-degree angle (right) of the default
+ * Constructs a BooleanEvent instance based around the 90 degree angle (right) of the default
* (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to.
- * @return a BooleanEvent instance based around the 90-degree angle of a POV on the HID.
+ * @return a BooleanEvent instance based around the 90 degree angle of a POV on the HID.
*/
public BooleanEvent povRight(EventLoop loop) {
return pov(90, loop);
}
/**
- * Constructs a BooleanEvent instance based around the 135-degree angle (right down) of the
+ * Constructs a BooleanEvent instance based around the 135 degree angle (right down) of the
* default (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to.
- * @return a BooleanEvent instance based around the 135-degree angle of a POV on the HID.
+ * @return a BooleanEvent instance based around the 135 degree angle of a POV on the HID.
*/
public BooleanEvent povDownRight(EventLoop loop) {
return pov(135, loop);
}
/**
- * Constructs a BooleanEvent instance based around the 180-degree angle (down) of the default
+ * Constructs a BooleanEvent instance based around the 180 degree angle (down) of the default
* (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to.
- * @return a BooleanEvent instance based around the 180-degree angle of a POV on the HID.
+ * @return a BooleanEvent instance based around the 180 degree angle of a POV on the HID.
*/
public BooleanEvent povDown(EventLoop loop) {
return pov(180, loop);
}
/**
- * Constructs a BooleanEvent instance based around the 225-degree angle (down left) of the default
+ * Constructs a BooleanEvent instance based around the 225 degree angle (down left) of the default
* (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to.
- * @return a BooleanEvent instance based around the 225-degree angle of a POV on the HID.
+ * @return a BooleanEvent instance based around the 225 degree angle of a POV on the HID.
*/
public BooleanEvent povDownLeft(EventLoop loop) {
return pov(225, loop);
}
/**
- * Constructs a BooleanEvent instance based around the 270-degree angle (left) of the default
+ * Constructs a BooleanEvent instance based around the 270 degree angle (left) of the default
* (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to.
- * @return a BooleanEvent instance based around the 270-degree angle of a POV on the HID.
+ * @return a BooleanEvent instance based around the 270 degree angle of a POV on the HID.
*/
public BooleanEvent povLeft(EventLoop loop) {
return pov(270, loop);
}
/**
- * Constructs a BooleanEvent instance based around the 315-degree angle (left up) of the default
+ * Constructs a BooleanEvent instance based around the 315 degree angle (left up) of the default
* (index 0) POV on the HID.
*
* @param loop the event loop instance to attach the event to.
- * @return a BooleanEvent instance based around the 315-degree angle of a POV on the HID.
+ * @return a BooleanEvent instance based around the 315 degree angle of a POV on the HID.
*/
public BooleanEvent povUpLeft(EventLoop loop) {
return pov(315, loop);
@@ -379,10 +379,10 @@ public class GenericHID {
}
/**
- * Get the axis type of a joystick axis.
+ * Get the axis type of the provided joystick axis.
*
* @param axis The axis to read, starting at 0.
- * @return the axis type of a joystick axis.
+ * @return the axis type of the given joystick axis
*/
public int getAxisType(int axis) {
return DriverStation.getJoystickAxisType(m_port, axis);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
index 9d86ab891b..e1f0a96ee1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
@@ -213,7 +213,7 @@ public class PWM implements Sendable, AutoCloseable {
return PWMJNI.getPWMRaw(m_handle);
}
- /** Temporarily disables the PWM output. The next set call will reenable the output. */
+ /** Temporarily disables the PWM output. The next set call will re-enable the output. */
public void setDisabled() {
PWMJNI.setPWMDisabled(m_handle);
}
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
index 68121ba00c..a80fd453ff 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java
@@ -246,7 +246,7 @@ public final class Preferences {
}
/**
- * Returns whether or not there is a key with the given name.
+ * Returns whether there is a key with the given name.
*
* @param key the key
* @return if there is a value at the given key
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
index ea33f97981..a2a58d3e53 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
@@ -159,7 +159,7 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
* When set to kBothDirections, the relay can be set to any of the four states: 0v-0v, 12v-0v,
* 0v-12v, 12v-12v
*
- * When set to kForwardOnly or kReverseOnly, you can specify the constant for the direction or
+ * When set to kForwardOnly or kReverseOnly, you can specify the constant for the direction, or
* you can simply specify kOff and kOn. Using only kOff and kOn is recommended.
*
* @param value The state to set the relay.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Resource.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Resource.java
index 09137d62cd..f4b04587ad 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Resource.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Resource.java
@@ -9,14 +9,14 @@ import edu.wpi.first.hal.util.CheckedAllocationException;
/**
* Track resources in the program. The Resource class is a convenient way of keeping track of
- * allocated arbitrary resources in the program. Resources are just indices that have an lower and
+ * allocated arbitrary resources in the program. Resources are just indices that have a lower and
* upper bound that are tracked by this class. In the library they are used for tracking allocation
* of hardware channels but this is purely arbitrary. The resource class does not do any actual
* allocation, but simply tracks if a given index is currently in use.
*
* WARNING: this should only be statically allocated. When the program loads into memory
* all the static constructors are called. At that time a linked list of all the "Resources" is
- * created. Then when the program actually starts - in the Robot constructor, all resources are
+ * created. Then, when the program actually starts - in the Robot constructor, all resources are
* initialized. This ensures that the program is restartable in memory without having to
* unload/reload.
*/
@@ -71,7 +71,7 @@ public final class Resource {
/**
* Allocate a specific resource value. The user requests a specific resource value, i.e. channel
- * number and it is verified unallocated, then returned.
+ * number, and it is verified unallocated, then returned.
*
* @param index The resource to allocate
* @return The index of the allocated block
@@ -90,8 +90,8 @@ public final class Resource {
/**
* Free an allocated resource. After a resource is no longer needed, for example a destructor is
- * called for a channel assignment class, Free will release the resource value so it can be reused
- * somewhere else in the program.
+ * called for a channel assignment class, this method will release the resource value, so it can
+ * be reused somewhere else in the program.
*
* @param index The index of the resource to free.
*/
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 9f4aee2df0..e4fb96244c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -137,14 +137,14 @@ public abstract class RobotBase implements AutoCloseable {
* completion before Autonomous is entered.
*
* This must be used to ensure that the communications code starts. In the future it would be
- * nice to put this code into it's own task that loads on boot so ensure that it runs.
+ * nice to put this code into its own task that loads on boot so ensure that it runs.
*/
protected RobotBase() {
final NetworkTableInstance inst = NetworkTableInstance.getDefault();
m_threadId = Thread.currentThread().getId();
setupCameraServerShared();
setupMathShared();
- // subscribe to "" to force persistent values to progagate to local
+ // subscribe to "" to force persistent values to propagate to local
m_suball = new MultiSubscriber(inst, new String[] {""});
if (isReal()) {
inst.startServer("/home/lvuser/networktables.json");
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
index 1e4c3e5fda..73a0b23e0f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
@@ -12,7 +12,7 @@ import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.nio.IntBuffer;
-/** Represents a SPI bus port. */
+/** Represents an SPI bus port. */
public class SPI implements AutoCloseable {
public enum Port {
kOnboardCS0(SPIJNI.ONBOARD_CS0_PORT),
@@ -84,7 +84,7 @@ public class SPI implements AutoCloseable {
}
/**
- * Configure the order that bits are sent and received on the wire to be most significant bit
+ * Configure the order that bits are sent and received on the wire to be the most significant bit
* first.
*
* @deprecated Does not work, will be removed.
@@ -95,7 +95,7 @@ public class SPI implements AutoCloseable {
}
/**
- * Configure the order that bits are sent and received on the wire to be least significant bit
+ * Configure the order that bits are sent and received on the wire to be the least significant bit
* first.
*
* @deprecated Does not work, will be removed.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
index d89727b75f..1a05c8af4d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
@@ -164,9 +164,8 @@ public class SerialPort implements AutoCloseable {
/**
* Enable termination and specify the termination character.
*
- * Termination is currently only implemented for receive. When the the terminator is received,
- * the read() or readString() will return fewer bytes than requested, stopping after the
- * terminator.
+ * Termination is currently only implemented for receive. When the terminator is received, the
+ * read() or readString() will return fewer bytes than requested, stopping after the terminator.
*
* @param terminator The character to use for termination.
*/
@@ -177,9 +176,8 @@ public class SerialPort implements AutoCloseable {
/**
* Enable termination with the default terminator '\n'
*
- * Termination is currently only implemented for receive. When the the terminator is received,
- * the read() or readString() will return fewer bytes than requested, stopping after the
- * terminator.
+ * Termination is currently only implemented for receive. When the terminator is received, the
+ * read() or readString() will return fewer bytes than requested, stopping after the terminator.
*
* The default terminator is '\n'
*/
@@ -268,7 +266,7 @@ public class SerialPort implements AutoCloseable {
* This defines the timeout for transactions with the hardware. It will affect reads if less
* bytes are available than the read buffer size (defaults to 1) and very large writes.
*
- * @param timeout The number of seconds to to wait for I/O.
+ * @param timeout The number of seconds to wait for I/O.
*/
public void setTimeout(double timeout) {
SerialPortJNI.serialSetTimeout(m_portHandle, timeout);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java
index 3e553509d7..705d6b1a7c 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java
@@ -101,14 +101,14 @@ public class SynchronousInterrupt implements AutoCloseable {
* @param ignorePrevious True to ignore if a previous interrupt has occurred, and only wait for a
* new trigger. False will consider if an interrupt has occurred since the last time the
* interrupt was read.
- * @return Result of which edges were triggered, or if an timeout occurred.
+ * @return Result of which edges were triggered, or if a timeout occurred.
*/
public WaitResult waitForInterrupt(double timeoutSeconds, boolean ignorePrevious) {
long result = InterruptJNI.waitForInterrupt(m_handle, timeoutSeconds, ignorePrevious);
// Rising edge result is the interrupt bit set in the byte 0xFF
// Falling edge result is the interrupt bit set in the byte 0xFF00
- // Set any bit set to be true for that edge, and AND the 2 results
+ // Set any bit set to be true for that edge, and then conduct a logical AND on the 2 results
// together to match the existing enum for all interrupts
boolean rising = (result & 0xFF) != 0;
boolean falling = (result & 0xFF00) != 0;
@@ -119,7 +119,7 @@ public class SynchronousInterrupt implements AutoCloseable {
* Wait for an interrupt, ignoring any previously occurring interrupts.
*
* @param timeoutSeconds The timeout in seconds. 0 or less will return immediately.
- * @return Result of which edges were triggered, or if an timeout occurred.
+ * @return Result of which edges were triggered, or if a timeout occurred.
*/
public WaitResult waitForInterrupt(double timeoutSeconds) {
return waitForInterrupt(timeoutSeconds, true);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
index ae9ac557f2..d7b326a2bf 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
@@ -79,7 +79,7 @@ public class Ultrasonic implements Sendable, AutoCloseable {
/**
* Initialize the Ultrasonic Sensor. This is the common code that initializes the ultrasonic
* sensor given that there are two digital I/O channels allocated. If the system was running in
- * automatic mode (round robin) when the new sensor is added, it is stopped, the sensor is added,
+ * automatic mode (round-robin) when the new sensor is added, it is stopped, the sensor is added,
* then automatic mode is restored.
*/
private synchronized void initialize() {
@@ -103,7 +103,7 @@ public class Ultrasonic implements Sendable, AutoCloseable {
m_counter.setMaxPeriod(1.0);
m_counter.setSemiPeriodMode(true);
m_counter.reset();
- m_enabled = true; // make it available for round robin scheduling
+ m_enabled = true; // make it available for round-robin scheduling
setAutomaticMode(originalMode);
m_instances++;
@@ -116,7 +116,7 @@ public class Ultrasonic implements Sendable, AutoCloseable {
}
/**
- * Create an instance of the Ultrasonic Sensor. This is designed to supchannel the Daventech SRF04
+ * Create an instance of the Ultrasonic Sensor. This is designed to support the Daventech SRF04
* and Vex ultrasonic sensors.
*
* @param pingChannel The digital output channel that sends the pulse to initiate the sensor
@@ -153,7 +153,7 @@ public class Ultrasonic implements Sendable, AutoCloseable {
/**
* Destructor for the ultrasonic sensor. Delete the instance of the ultrasonic sensor by freeing
- * the allocated digital channels. If the system was in automatic mode (round robin), then it is
+ * the allocated digital channels. If the system was in automatic mode (round-robin), then it is
* stopped, then started again after this sensor is removed (provided this wasn't the last
* sensor).
*/
@@ -194,10 +194,10 @@ public class Ultrasonic implements Sendable, AutoCloseable {
/**
* Turn Automatic mode on/off for all sensors.
*
- * When in Automatic mode, all sensors will fire in round robin, waiting a set time between
+ * When in Automatic mode, all sensors will fire in round-robin, waiting a set time between
* each sensor.
*
- * @param enabling Set to true if round robin scheduling should start for all the ultrasonic
+ * @param enabling Set to true if round-robin scheduling should start for all the ultrasonic
* sensors. This scheduling method assures that the sensors are non-interfering because no two
* sensors fire at the same time. If another scheduling algorithm is preferred, it can be
* implemented by pinging the sensors manually and waiting for the results to come back.
@@ -239,12 +239,12 @@ public class Ultrasonic implements Sendable, AutoCloseable {
/**
* Single ping to ultrasonic sensor. Send out a single ping to the ultrasonic sensor. This only
- * works if automatic (round robin) mode is disabled. A single ping is sent out, and the counter
+ * works if automatic (round-robin) mode is disabled. A single ping is sent out, and the counter
* should count the semi-period when it comes in. The counter is reset to make the current value
* invalid.
*/
public void ping() {
- setAutomaticMode(false); // turn off automatic round robin if pinging
+ setAutomaticMode(false); // turn off automatic round-robin if pinging
// single sensor
m_counter.reset(); // reset the counter to zero (invalid data now)
// do the ping to start getting a single range
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java
index 76dde7063c..6828b9a53a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java
@@ -72,7 +72,7 @@ public class ExternalDirectionCounter implements Sendable, AutoCloseable {
}
/**
- * Sets to revese the counter direction.
+ * Sets to reverse the counter direction.
*
* @param reverseDirection True to reverse counting direction.
*/
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
index ad3bf50bd9..1ee160c79f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
@@ -135,7 +135,7 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
* Drive method for Mecanum platform.
*
* Angles are measured counterclockwise from the positive X axis. The robot's speed is
- * independent from its angle or rotation rate.
+ * independent of its angle or rotation rate.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Left is positive.
@@ -150,7 +150,7 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
* Drive method for Mecanum platform.
*
* Angles are measured counterclockwise from the positive X axis. The robot's speed is
- * independent from its angle or rotation rate.
+ * independent of its angle or rotation rate.
*
* @param xSpeed The robot's speed along the Y axis [-1.0..1.0]. Forward is positive.
* @param ySpeed The robot's speed along the X axis [-1.0..1.0]. Left is positive.
@@ -183,7 +183,7 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
* Drive method for Mecanum platform.
*
* Angles are measured counterclockwise from straight ahead. The speed at which the robot
- * drives (translation) is independent from its angle or rotation rate.
+ * drives (translation) is independent of its angle or rotation rate.
*
* @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is positive.
* @param angle The gyro heading around the Z axis at which the robot drives.
@@ -204,7 +204,7 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
* Cartesian inverse kinematics for Mecanum platform.
*
* Angles are measured counterclockwise from the positive X axis. The robot's speed is
- * independent from its angle or rotation rate.
+ * independent of its angle or rotation rate.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Left is positive.
@@ -219,8 +219,8 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
/**
* Cartesian inverse kinematics for Mecanum platform.
*
- * Angles are measured clockwise from the positive X axis. The robot's speed is independent
- * from its angle or rotation rate.
+ * Angles are measured clockwise from the positive X axis. The robot's speed is independent of
+ * its angle or rotation rate.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Left is positive.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
index de2780f6ed..3cfd27d227 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
@@ -22,16 +22,16 @@ public interface Accelerometer {
void setRange(Range range);
/**
- * Common interface for getting the x axis acceleration.
+ * Common interface for getting the x-axis acceleration.
*
- * @return The acceleration along the x axis in g-forces
+ * @return The acceleration along the x-axis in g-forces
*/
double getX();
/**
- * Common interface for getting the y axis acceleration.
+ * Common interface for getting the y-axis acceleration.
*
- * @return The acceleration along the y axis in g-forces
+ * @return The acceleration along the y-axis in g-forces
*/
double getY();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
index 27377be03e..660aad82e0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Gyro.java
@@ -17,7 +17,7 @@ public interface Gyro extends AutoCloseable {
/**
* Reset the gyro. Resets the gyro to a heading of zero. This can be used if there is significant
- * drift in the gyro and it needs to be recalibrated after it has been running.
+ * drift in the gyro, and it needs to be recalibrated after it has been running.
*/
void reset();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
index 4c1a7aece4..a47f866992 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
@@ -84,7 +84,7 @@ public final class LiveWindow {
*
* If it's being enabled, turn off the scheduler and remove all the commands from the queue and
* enable all the components registered for LiveWindow. If it's being disabled, stop all the
- * registered components and reenable the scheduler.
+ * registered components and re-enable the scheduler.
*
* TODO: add code to disable PID loops when enabling LiveWindow. The commands should reenable
* the PID loops themselves when they get rescheduled. This prevents arms from starting to move
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/package.html b/wpilibj/src/main/java/edu/wpi/first/wpilibj/package.html
index d11ae27cdb..fdef7b43fc 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/package.html
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/package.html
@@ -13,7 +13,7 @@
utility functions like timing and field management. The library is designed
to:
NOTE:It is recommend to use {@link Matrix#isEqual(Matrix, double)} over this method when
+ * NOTE:It is recommended to use {@link Matrix#isEqual(Matrix, double)} over this method when
* checking if two matrices are equal as {@link Matrix#isEqual(Matrix, double)} will return false
* if an element is uncountable. This method should only be used when uncountable elements need to
- * compared.
+ * be compared.
*
* @param other The {@link Matrix} to check against this one.
* @param tolerance The tolerance to check equality with.
@@ -709,7 +708,7 @@ public class Matrix A Twist can be used to represent a difference between two poses.
*/
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java
index e41bbd6a83..b78505e3f1 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java
@@ -8,7 +8,7 @@ import java.util.Objects;
/**
* A change in distance along a 3D arc since the last pose update. We can use ideas from
- * differential calculus to create new Pose3ds from a Twist3d and vise versa.
+ * differential calculus to create new Pose3d objects from a Twist3d and vise versa.
*
* A Twist can be used to represent a difference between two poses.
*/
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
index 5090423524..23204d4a6a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
@@ -16,8 +16,8 @@ import org.ejml.simple.SimpleMatrix;
*
* The inverse kinematics (converting from a desired chassis velocity to individual wheel speeds)
* uses the relative locations of the wheels with respect to the center of rotation. The center of
- * rotation for inverse kinematics is also variable. This means that you can set your set your
- * center of rotation in a corner of the robot to perform special evasion maneuvers.
+ * rotation for inverse kinematics is also variable. This means that you can set your center of
+ * rotation in a corner of the robot to perform special evasion maneuvers.
*
* Forward kinematics (converting an array of wheel speeds into the overall chassis motion) is
* performs the exact opposite of what inverse kinematics does. Since this is an overdetermined
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
index 5bd1067279..98df5473cd 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
@@ -19,8 +19,8 @@ import org.ejml.simple.SimpleMatrix;
*
* The inverse kinematics (converting from a desired chassis velocity to individual module
* states) uses the relative locations of the modules with respect to the center of rotation. The
- * center of rotation for inverse kinematics is also variable. This means that you can set your set
- * your center of rotation in a corner of the robot to perform special evasion maneuvers.
+ * center of rotation for inverse kinematics is also variable. This means that you can set your
+ * center of rotation in a corner of the robot to perform special evasion maneuvers.
*
* Forward kinematics (converting an array of module states into the overall chassis motion) is
* performs the exact opposite of what inverse kinematics does. Since this is an overdetermined
@@ -44,9 +44,10 @@ public class SwerveDriveKinematics {
/**
* Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations
- * as Translation2ds. The order in which you pass in the wheel locations is the same order that
- * you will receive the module states when performing inverse kinematics. It is also expected that
- * you pass in the module states in the same order when calling the forward kinematics methods.
+ * as Translation2d objects. The order in which you pass in the wheel locations is the same order
+ * that you will receive the module states when performing inverse kinematics. It is also expected
+ * that you pass in the module states in the same order when calling the forward kinematics
+ * methods.
*
* @param wheelsMeters The locations of the wheels relative to the physical center of the robot.
*/
diff --git a/wpimath/src/main/java/edu/wpi/first/math/spline/Spline.java b/wpimath/src/main/java/edu/wpi/first/math/spline/Spline.java
index c3c112e9a2..83b35f3547 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/spline/Spline.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/spline/Spline.java
@@ -45,7 +45,7 @@ public abstract class Spline {
}
// This simply multiplies by the coefficients. We need to divide out t some
- // n number of times where n is the derivative we want to take.
+ // n number of times when n is the derivative we want to take.
SimpleMatrix combined = coefficients.mult(polynomialBases);
// Get x and y
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
index e285534dba..02b1da0aef 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
@@ -21,7 +21,7 @@ import org.ejml.simple.SimpleMatrix;
*
* For everything in this file, "inputs" and "outputs" are defined from the perspective of the
* plant. This means U is an input and Y is an output (because you give the plant U (powers) and it
- * gives you back a Y (sensor values). This is the opposite of what they mean from the perspective
+ * gives you back a Y (sensor values)). This is the opposite of what they mean from the perspective
* of the controller (U is an output because that's what goes to the motors and Y is an input
* because that's what comes back from the sensors).
*
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java
index 4c7e81448e..0cc6bc54bc 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java
@@ -111,7 +111,7 @@ public class DifferentialDriveVoltageConstraint implements TrajectoryConstraint
/ 2);
}
- // When turning about a point inside of the wheelbase (i.e. radius less than half
+ // When turning about a point inside the wheelbase (i.e. radius less than half
// the trackwidth), the inner wheel's direction changes, but the magnitude remains
// the same. The formula above changes sign for the inner wheel when this happens.
// We can accurately account for this by simply negating the inner wheel.
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java
index 8d821e651b..cf6a439aa7 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveOdometryTest.java
@@ -47,7 +47,7 @@ class MecanumDriveOdometryTest {
@Test
void testTwoIterations() {
- // 5 units/sec in the x axis (forward)
+ // 5 units/sec in the x-axis (forward)
final var wheelPositions = new MecanumDriveWheelPositions(0.3536, 0.3536, 0.3536, 0.3536);
m_odometry.resetPosition(new Rotation2d(), new MecanumDriveWheelPositions(), new Pose2d());
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
index 2aedabd90f..43dd02ad9b 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
@@ -211,7 +211,7 @@ class SwerveDriveKinematicsTest {
the vx and vy of our chassis center. Because our COR is at a 45 degree angle from the center,
we know that vx and vy must be the same. Furthermore, we know that the center of mass makes
a full revolution about the center of revolution once every second. Therefore, the center of
- mass must be moving at 106.629in/sec. Recalling that the ratios of a 45/45/90 triagle are
+ mass must be moving at 106.629in/sec. Recalling that the ratios of a 45/45/90 triangle are
1:√(2)/2:√(2)/2, we find that the COM vx is -75.398, and vy is 75.398.
*/
@@ -235,7 +235,7 @@ class SwerveDriveKinematicsTest {
the vx and vy of our chassis center. Because our COR is at a 45 degree angle from the center,
we know that vx and vy must be the same. Furthermore, we know that the center of mass makes
a full revolution about the center of revolution once every second. Therefore, the center of
- mass must be moving at 106.629in/sec. Recalling that the ratios of a 45/45/90 triagle are
+ mass must be moving at 106.629in/sec. Recalling that the ratios of a 45/45/90 triangle are
1:√(2)/2:√(2)/2, we find that the COM vx is -75.398, and vy is 75.398.
*/
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java
index a2d8a350c0..716da0398e 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveOdometryTest.java
@@ -33,7 +33,7 @@ class SwerveDriveOdometryTest {
@Test
void testTwoIterations() {
- // 5 units/sec in the x axis (forward)
+ // 5 units/sec in the x-axis (forward)
final SwerveModulePosition[] wheelDeltas = {
new SwerveModulePosition(0.5, Rotation2d.fromDegrees(0)),
new SwerveModulePosition(0.5, Rotation2d.fromDegrees(0)),
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/RuntimeLoader.java b/wpiutil/src/main/java/edu/wpi/first/util/RuntimeLoader.java
index 10b45f5d6c..5c5a4ac4eb 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/RuntimeLoader.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/RuntimeLoader.java
@@ -21,7 +21,7 @@ public final class RuntimeLoader This is a functional interface whose functional method is {@link #accept(boolean)}.
*/
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/function/FloatConsumer.java b/wpiutil/src/main/java/edu/wpi/first/util/function/FloatConsumer.java
index 0fc7ff75bb..77970d87be 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/function/FloatConsumer.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/function/FloatConsumer.java
@@ -7,7 +7,7 @@ package edu.wpi.first.util.function;
/**
* Represents an operation that accepts a single float-valued argument and returns no result. This
* is the primitive type specialization of {@link java.util.function.Consumer} for float. Unlike
- * most other functional interfaces, BooleanConsumer is expected to operate via side-effects.
+ * most other functional interfaces, BooleanConsumer is expected to operate via side effects.
*
* This is a functional interface whose functional method is {@link #accept(float)}.
*/
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableBuilder.java b/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableBuilder.java
index aa0a9b064d..a58c3a30c2 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableBuilder.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableBuilder.java
@@ -31,7 +31,7 @@ public interface SendableBuilder extends AutoCloseable {
void setSmartDashboardType(String type);
/**
- * Set a flag indicating if this sendable should be treated as an actuator. By default this flag
+ * Set a flag indicating if this Sendable should be treated as an actuator. By default, this flag
* is false.
*
* @param value true if actuator, false if not
diff --git a/wpiutil/src/main/native/include/wpi/Algorithm.h b/wpiutil/src/main/native/include/wpi/Algorithm.h
index d0744dcbf9..1fd2502c29 100644
--- a/wpiutil/src/main/native/include/wpi/Algorithm.h
+++ b/wpiutil/src/main/native/include/wpi/Algorithm.h
@@ -9,7 +9,7 @@
namespace wpi {
-// Binary insortion into vector; std::log(n) efficiency.
+// Binary insertion into vector; std::log(n) efficiency.
template
-
+ * Displays a Field2d object.
* Supported types:
*
*
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DIOSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DIOSim.java
index 83afb74e8d..1ee158072e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DIOSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DIOSim.java
@@ -32,7 +32,7 @@ public class DIOSim {
}
/**
- * Constructs from an digital I/O channel number.
+ * Constructs from a digital I/O channel number.
*
* @param channel Channel number
*/
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java
index c5878ca1e4..8a81f53247 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java
@@ -118,7 +118,7 @@ public class GenericHIDSim {
}
/**
- * Set the type of an axis.
+ * Set the type of the provided axis channel.
*
* @param axis the axis
* @param type the type
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PS4ControllerSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PS4ControllerSim.java
index de6e1ed325..fa19760974 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PS4ControllerSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PS4ControllerSim.java
@@ -69,7 +69,7 @@ public class PS4ControllerSim extends GenericHIDSim {
}
/**
- * Change the L2 axis axis value of the controller.
+ * Change the L2 axis value of the controller.
*
* @param value the new value
*/
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
index 67917f2fde..9ffccde047 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
@@ -64,7 +64,7 @@ public class FieldObject2d implements AutoCloseable {
}
/**
- * Set multiple poses from an list of Pose objects. The total number of poses is limited to 85.
+ * Set multiple poses from a list of Pose objects. The total number of poses is limited to 85.
*
* @param poses list of 2D poses
*/
@@ -77,7 +77,7 @@ public class FieldObject2d implements AutoCloseable {
}
/**
- * Set multiple poses from an list of Pose objects. The total number of poses is limited to 85.
+ * Set multiple poses from a list of Pose objects. The total number of poses is limited to 85.
*
* @param poses list of 2D poses
*/
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
index 2ce2e65aaa..7bb266e658 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
@@ -252,7 +252,7 @@ public class SendableBuilderImpl implements NTSendableBuilder {
}
/**
- * Set a flag indicating if this sendable should be treated as an actuator. By default this flag
+ * Set a flag indicating if this sendable should be treated as an actuator. By default, this flag
* is false.
*
* @param value true if actuator, false if not
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
index 688f00609d..c967e17099 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
@@ -43,7 +43,7 @@ public class SendableChooser
{
*
* @param x An array of the means.
* @param s Square-root covariance of the filter.
- * @return Two dimensional array of sigma points. Each column contains all of the sigmas for one
+ * @return Two-dimensional array of sigma points. Each column contains all the sigmas for one
* dimension in the problem space. Ordered by Xi_0, Xi_{1..n}, Xi_{n+1..2n}.
*/
public Matrix