diff --git a/wpiutil/src/main/java/edu/wpi/first/util/EventVector.java b/wpiutil/src/main/java/edu/wpi/first/util/EventVector.java
index 4d2c80030a..2910bd2147 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/EventVector.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/EventVector.java
@@ -8,6 +8,7 @@ import java.util.ArrayList;
 import java.util.List;
 import java.util.concurrent.locks.ReentrantLock;
 
+/** A thread-safe container for handling events. */
 public class EventVector {
   private final ReentrantLock m_lock = new ReentrantLock();
   private final List<Integer> m_events = new ArrayList<>();
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java b/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
index 550339ecad..72593dcafc 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
@@ -6,6 +6,9 @@ package edu.wpi.first.util;
 
 import java.io.File;
 
+/**
+ * A utility class for detecting and providing platform-specific such as OS and CPU architecture.
+ */
 public final class RuntimeDetector {
   private static String filePrefix;
   private static String fileExtension;
@@ -131,32 +134,57 @@ public final class RuntimeDetector {
   }
 
   /**
-   * check if architecture is Arm64.
+   * Check if architecture is Arm64.
    *
-   * @return if architecture is Arm64
+   * @return if architecture is Arm64.
    */
   public static boolean isArm64() {
     String arch = System.getProperty("os.arch");
     return "aarch64".equals(arch) || "arm64".equals(arch);
   }
 
+  /**
+   * Check if OS is Linux.
+   *
+   * @return if OS is Linux.
+   */
   public static boolean isLinux() {
     return System.getProperty("os.name").startsWith("Linux");
   }
 
+  /**
+   * Check if OS is Windows.
+   *
+   * @return if OS is Windows.
+   */
   public static boolean isWindows() {
     return System.getProperty("os.name").startsWith("Windows");
   }
 
+  /**
+   * Check if OS is Mac.
+   *
+   * @return if OS is Mac.
+   */
   public static boolean isMac() {
     return System.getProperty("os.name").startsWith("Mac");
   }
 
+  /**
+   * Check if OS is 32bit Intel.
+   *
+   * @return if OS is 32bit Intel.
+   */
   public static boolean is32BitIntel() {
     String arch = System.getProperty("os.arch");
     return "x86".equals(arch) || "i386".equals(arch);
   }
 
+  /**
+   * Check if OS is 64bit Intel.
+   *
+   * @return if OS is 64bit Intel.
+   */
   public static boolean is64BitIntel() {
     String arch = System.getProperty("os.arch");
     return "amd64".equals(arch) || "x86_64".equals(arch);
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanArrayLogEntry.java
index 718d46029a..21ac596359 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanArrayLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanArrayLogEntry.java
@@ -6,20 +6,49 @@ package edu.wpi.first.util.datalog;
 
 /** Log array of boolean values. */
 public class BooleanArrayLogEntry extends DataLogEntry {
+  /** The data type for boolean array values. */
   public static final String kDataType = "boolean[]";
 
+  /**
+   * Constructs a boolean array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public BooleanArrayLogEntry(DataLog log, String name, String metadata, long timestamp) {
     super(log, name, kDataType, metadata, timestamp);
   }
 
+  /**
+   * Constructs a boolean array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public BooleanArrayLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a boolean array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public BooleanArrayLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a boolean array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public BooleanArrayLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanLogEntry.java
index 503b83bfd8..c413bfa42a 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/BooleanLogEntry.java
@@ -6,20 +6,49 @@ package edu.wpi.first.util.datalog;
 
 /** Log boolean values. */
 public class BooleanLogEntry extends DataLogEntry {
+  /** The data type for boolean values. */
   public static final String kDataType = "boolean";
 
+  /**
+   * Constructs a boolean log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public BooleanLogEntry(DataLog log, String name, String metadata, long timestamp) {
     super(log, name, kDataType, metadata, timestamp);
   }
 
+  /**
+   * Constructs a boolean log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public BooleanLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a boolean log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public BooleanLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a boolean log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public BooleanLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLog.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLog.java
index 97c629f6a2..f48b0815cf 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLog.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLog.java
@@ -494,6 +494,11 @@ public final class DataLog implements AutoCloseable {
     DataLogJNI.appendStringArray(m_impl, entry, arr, timestamp);
   }
 
+  /**
+   * Gets the JNI implementation handle.
+   *
+   * @return data log handle.
+   */
   public long getImpl() {
     return m_impl;
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogEntry.java
index 4beaff2e44..8502428405 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogEntry.java
@@ -6,15 +6,39 @@ package edu.wpi.first.util.datalog;
 
 /** Log entry base class. */
 public class DataLogEntry {
+  /**
+   * Constructs a data log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param type Data type
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   protected DataLogEntry(DataLog log, String name, String type, String metadata, long timestamp) {
     m_log = log;
     m_entry = log.start(name, type, metadata, timestamp);
   }
 
+  /**
+   * Constructs a data log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param type Data type
+   * @param metadata metadata
+   */
   protected DataLogEntry(DataLog log, String name, String type, String metadata) {
     this(log, name, type, metadata, 0);
   }
 
+  /**
+   * Constructs a data log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param type Data type
+   */
   protected DataLogEntry(DataLog log, String name, String type) {
     this(log, name, type, "");
   }
@@ -52,6 +76,9 @@ public class DataLogEntry {
     finish(0);
   }
 
+  /** The data log instance associated with the entry. */
   protected final DataLog m_log;
+
+  /** The data log entry index. */
   protected final int m_entry;
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogJNI.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogJNI.java
index f94a86f057..7a58ee8705 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogJNI.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DataLogJNI.java
@@ -7,6 +7,11 @@ package edu.wpi.first.util.datalog;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.nio.ByteBuffer;
 
+/**
+ * DataLog wpiutil JNI Functions.
+ *
+ * @see "wpiutil/DataLog.h"
+ */
 public class DataLogJNI extends WPIUtilJNI {
   static native long create(String dir, String filename, double period, String extraHeader);
 
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleArrayLogEntry.java
index 67ef8c377e..485a9c8c82 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleArrayLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleArrayLogEntry.java
@@ -6,20 +6,49 @@ package edu.wpi.first.util.datalog;
 
 /** Log array of double values. */
 public class DoubleArrayLogEntry extends DataLogEntry {
+  /** The data type for double array values. */
   public static final String kDataType = "double[]";
 
+  /**
+   * Constructs a double array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public DoubleArrayLogEntry(DataLog log, String name, String metadata, long timestamp) {
     super(log, name, kDataType, metadata, timestamp);
   }
 
+  /**
+   * Constructs a double array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public DoubleArrayLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a double array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public DoubleArrayLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a double array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public DoubleArrayLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleLogEntry.java
index f16c27e240..a089df2cd8 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/DoubleLogEntry.java
@@ -6,20 +6,49 @@ package edu.wpi.first.util.datalog;
 
 /** Log double values. */
 public class DoubleLogEntry extends DataLogEntry {
+  /** The data type for double values. */
   public static final String kDataType = "double";
 
+  /**
+   * Constructs a double log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public DoubleLogEntry(DataLog log, String name, String metadata, long timestamp) {
     super(log, name, kDataType, metadata, timestamp);
   }
 
+  /**
+   * Constructs a double log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public DoubleLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a double log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public DoubleLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a double log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public DoubleLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatArrayLogEntry.java
index 3a0b7e087c..be25970ffc 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatArrayLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatArrayLogEntry.java
@@ -6,20 +6,49 @@ package edu.wpi.first.util.datalog;
 
 /** Log array of float values. */
 public class FloatArrayLogEntry extends DataLogEntry {
+  /** The data type for float array values. */
   public static final String kDataType = "float[]";
 
+  /**
+   * Constructs a float array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public FloatArrayLogEntry(DataLog log, String name, String metadata, long timestamp) {
     super(log, name, kDataType, metadata, timestamp);
   }
 
+  /**
+   * Constructs a float array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public FloatArrayLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a float array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public FloatArrayLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a float array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public FloatArrayLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatLogEntry.java
index 28adc3442f..28f83cb6a6 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/FloatLogEntry.java
@@ -6,20 +6,49 @@ package edu.wpi.first.util.datalog;
 
 /** Log float values. */
 public class FloatLogEntry extends DataLogEntry {
+  /** The data type for float values. */
   public static final String kDataType = "float";
 
+  /**
+   * Constructs a float log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public FloatLogEntry(DataLog log, String name, String metadata, long timestamp) {
     super(log, name, kDataType, metadata, timestamp);
   }
 
+  /**
+   * Constructs a float log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public FloatLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a float log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public FloatLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a float log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public FloatLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerArrayLogEntry.java
index 2cffc8d3f5..d2f8f0ea52 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerArrayLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerArrayLogEntry.java
@@ -6,20 +6,49 @@ package edu.wpi.first.util.datalog;
 
 /** Log array of integer values. */
 public class IntegerArrayLogEntry extends DataLogEntry {
+  /** The data type for integer array values. */
   public static final String kDataType = "int64[]";
 
+  /**
+   * Constructs a integer array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public IntegerArrayLogEntry(DataLog log, String name, String metadata, long timestamp) {
     super(log, name, kDataType, metadata, timestamp);
   }
 
+  /**
+   * Constructs a integer array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public IntegerArrayLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a integer array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public IntegerArrayLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a integer array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public IntegerArrayLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerLogEntry.java
index 142ca5da61..395a208f74 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/IntegerLogEntry.java
@@ -6,20 +6,49 @@ package edu.wpi.first.util.datalog;
 
 /** Log integer values. */
 public class IntegerLogEntry extends DataLogEntry {
+  /** The data type for integer values. */
   public static final String kDataType = "int64";
 
+  /**
+   * Constructs a integer log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public IntegerLogEntry(DataLog log, String name, String metadata, long timestamp) {
     super(log, name, kDataType, metadata, timestamp);
   }
 
+  /**
+   * Constructs a integer log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public IntegerLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a integer log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public IntegerLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a integer log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public IntegerLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/RawLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/RawLogEntry.java
index 972fc03cfa..a9e3373335 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/RawLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/RawLogEntry.java
@@ -8,28 +8,74 @@ import java.nio.ByteBuffer;
 
 /** Log raw byte array values. */
 public class RawLogEntry extends DataLogEntry {
+  /** The data type for raw values. */
   public static final String kDataType = "raw";
 
+  /**
+   * Constructs a raw log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param type Data type
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public RawLogEntry(DataLog log, String name, String metadata, String type, long timestamp) {
     super(log, name, type, metadata, timestamp);
   }
 
+  /**
+   * Constructs a raw log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param type Data type
+   */
   public RawLogEntry(DataLog log, String name, String metadata, String type) {
     this(log, name, metadata, type, 0);
   }
 
+  /**
+   * Constructs a raw log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public RawLogEntry(DataLog log, String name, String metadata, long timestamp) {
     this(log, name, metadata, kDataType, timestamp);
   }
 
+  /**
+   * Constructs a raw log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public RawLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a raw log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public RawLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a raw log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public RawLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringArrayLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringArrayLogEntry.java
index 37bdeb1b96..f0a6dde737 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringArrayLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringArrayLogEntry.java
@@ -6,20 +6,49 @@ package edu.wpi.first.util.datalog;
 
 /** Log array of string values. */
 public class StringArrayLogEntry extends DataLogEntry {
+  /** The data type for string array values. */
   public static final String kDataType = "string[]";
 
+  /**
+   * Constructs a string array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public StringArrayLogEntry(DataLog log, String name, String metadata, long timestamp) {
     super(log, name, kDataType, metadata, timestamp);
   }
 
+  /**
+   * Constructs a string array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public StringArrayLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a string array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public StringArrayLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a string array log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public StringArrayLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringLogEntry.java b/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringLogEntry.java
index 0722dc03c9..27c8aefef5 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringLogEntry.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/datalog/StringLogEntry.java
@@ -6,28 +6,74 @@ package edu.wpi.first.util.datalog;
 
 /** Log string values. */
 public class StringLogEntry extends DataLogEntry {
+  /** The data type for string values. */
   public static final String kDataType = "string";
 
+  /**
+   * Constructs a String log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param type Data type
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public StringLogEntry(DataLog log, String name, String metadata, String type, long timestamp) {
     super(log, name, type, metadata, timestamp);
   }
 
+  /**
+   * Constructs a String log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param type Data type
+   */
   public StringLogEntry(DataLog log, String name, String metadata, String type) {
     this(log, name, metadata, type, 0);
   }
 
+  /**
+   * Constructs a String log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public StringLogEntry(DataLog log, String name, String metadata, long timestamp) {
     this(log, name, metadata, kDataType, timestamp);
   }
 
+  /**
+   * Constructs a String log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param metadata metadata
+   */
   public StringLogEntry(DataLog log, String name, String metadata) {
     this(log, name, metadata, 0);
   }
 
+  /**
+   * Constructs a String log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   * @param timestamp entry creation timestamp (0=now)
+   */
   public StringLogEntry(DataLog log, String name, long timestamp) {
     this(log, name, "", timestamp);
   }
 
+  /**
+   * Constructs a String log entry.
+   *
+   * @param log datalog
+   * @param name name of the entry
+   */
   public StringLogEntry(DataLog log, String name) {
     this(log, name, 0);
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/struct/BadSchemaException.java b/wpiutil/src/main/java/edu/wpi/first/util/struct/BadSchemaException.java
index 5815cfec00..9c69e1f665 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/struct/BadSchemaException.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/struct/BadSchemaException.java
@@ -4,35 +4,70 @@
 
 package edu.wpi.first.util.struct;
 
+/** Exception thrown when encountering a bad schema. */
 public class BadSchemaException extends Exception {
   /** The bad schema field. */
   private final String m_field;
 
-  public BadSchemaException(String s) {
-    super(s);
+  /**
+   * Constructs a BadSchemaException.
+   *
+   * @param message the detail message.
+   */
+  public BadSchemaException(String message) {
+    super(message);
     m_field = "";
   }
 
+  /**
+   * Constructs a BadSchemaException.
+   *
+   * @param message the detail message.
+   * @param cause The cause (which is saved for later retrieval by the {@link #getCause()} method).
+   */
   public BadSchemaException(String message, Throwable cause) {
     super(message, cause);
     m_field = "";
   }
 
+  /**
+   * Constructs a BadSchemaException.
+   *
+   * @param cause The cause (which is saved for later retrieval by the {@link #getCause()} method).
+   */
   public BadSchemaException(Throwable cause) {
     super(cause);
     m_field = "";
   }
 
-  public BadSchemaException(String field, String s) {
-    super(s);
+  /**
+   * Constructs a BadSchemaException.
+   *
+   * @param field The bad schema field.
+   * @param message the detail message.
+   */
+  public BadSchemaException(String field, String message) {
+    super(message);
     m_field = field;
   }
 
+  /**
+   * Constructs a BadSchemaException.
+   *
+   * @param field The bad schema field.
+   * @param message the detail message.
+   * @param cause The cause (which is saved for later retrieval by the {@link #getCause()} method).
+   */
   public BadSchemaException(String field, String message, Throwable cause) {
     super(message, cause);
     m_field = field;
   }
 
+  /**
+   * Gets the name of the bad schema field.
+   *
+   * @return The name of the bad schema field, or an empty string if not applicable.
+   */
   public String getField() {
     return m_field;
   }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/struct/StructFieldType.java b/wpiutil/src/main/java/edu/wpi/first/util/struct/StructFieldType.java
index 28d5d8ec31..bee855839f 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/struct/StructFieldType.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/struct/StructFieldType.java
@@ -20,15 +20,19 @@ public enum StructFieldType {
   kDouble("double", false, false, 8),
   kStruct("struct", false, false, 0);
 
+  /** The name of the data type. */
   @SuppressWarnings("MemberName")
   public final String name;
 
+  /** Indicates if the data type is a signed integer. */
   @SuppressWarnings("MemberName")
   public final boolean isInt;
 
+  /** Indicates if the data type is an unsigned integer. */
   @SuppressWarnings("MemberName")
   public final boolean isUint;
 
+  /** The size (in bytes) of the data type. */
   @SuppressWarnings("MemberName")
   public final int size;