[docs] Add missing JavaDocs (#6125)

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTag.java

@@ -11,14 +11,23 @@ import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.util.RawFrame;
 import java.util.Objects;
 
+/** Represents an AprilTag's metadata. */
 @SuppressWarnings("MemberName")
 public class AprilTag {
+  /** The tag's ID. */
   @JsonProperty(value = "ID")
   public int ID;
 
+  /** The tag's pose. */
   @JsonProperty(value = "pose")
   public Pose3d pose;
 
+  /**
+   * Constructs an AprilTag.
+   *
+   * @param ID The tag's ID.
+   * @param pose The tag's pose.
+   */
   @SuppressWarnings("ParameterName")
   @JsonCreator
   public AprilTag(

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java

@@ -182,6 +182,7 @@ public class AprilTagDetector implements AutoCloseable {
     }
   }
 
+  /** Constructs an AprilTagDetector. */
   public AprilTagDetector() {
     m_native = AprilTagJNI.createDetector();
   }

apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java

@@ -13,21 +13,36 @@ import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
+/** AprilTag JNI. */
 public class AprilTagJNI {
   static boolean libraryLoaded = false;
 
   static RuntimeLoader<AprilTagJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -194,4 +209,7 @@ public class AprilTagJNI {
   public static native void generate16h5AprilTagImage(RawFrame frameObj, long frame, int id);
 
   public static native void generate36h11AprilTagImage(RawFrame frameObj, long frame, int id);
+
+  /** Utility class. */
+  private AprilTagJNI() {}
 }

apriltag/src/main/native/include/frc/apriltag/AprilTag.h

@@ -12,14 +12,16 @@
 
 namespace frc {
 
+/**
+ * Represents an AprilTag's metadata.
+ */
 struct WPILIB_DLLEXPORT AprilTag {
+  /// The tag's ID.
   int ID;
 
+  /// The tag's pose.
   Pose3d pose;
 
-  /**
-   * Checks equality between this AprilTag and another object.
-   */
   bool operator==(const AprilTag&) const = default;
 
   static bool Generate36h11AprilTagImage(wpi::RawFrame* frame, int id);

cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java

@@ -14,6 +14,7 @@ import org.opencv.core.Mat;
  * code. The easiest way to use this is to run it in a {@link VisionThread} and use the listener to
  * take snapshots of the pipeline's outputs.
  *
+ * @param <P> Vision pipeline type.
  * @see VisionPipeline
  * @see VisionThread
  * @see <a href="package-summary.html">vision</a>

cscore/src/main/java/edu/wpi/first/cscore/CameraServerCvJNI.java

@@ -9,21 +9,36 @@ import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 import org.opencv.core.Core;
 
+/** CameraServer CV JNI. */
 public class CameraServerCvJNI {
   static boolean libraryLoaded = false;
 
   static RuntimeLoader<Core> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -72,4 +87,7 @@ public class CameraServerCvJNI {
   public static native long grabSinkFrame(int sink, long imageNativeObj);
 
   public static native long grabSinkFrameTimeout(int sink, long imageNativeObj, double timeout);
+
+  /** Utility class. */
+  private CameraServerCvJNI() {}
 }

cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java

@@ -11,21 +11,36 @@ import java.nio.ByteBuffer;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.Consumer;
 
+/** CameraServer JNI. */
 public class CameraServerJNI {
   static boolean libraryLoaded = false;
 
   static RuntimeLoader<CameraServerJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -347,4 +362,7 @@ public class CameraServerJNI {
   public static native int runMainRunLoopTimeout(double timeoutSeconds);
 
   public static native void stopMainRunLoop();
+
+  /** Utility class. */
+  private CameraServerJNI() {}
 }

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

@@ -59,4 +59,7 @@ public class AccelerometerJNI extends JNIWrapper {
    * @return the Z acceleration
    */
   public static native double getAccelerometerZ();
+
+  /** Utility class. */
+  private AccelerometerJNI() {}
 }

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

@@ -13,6 +13,9 @@ public class AccumulatorResult {
   /** The number of sample value was accumulated over. */
   public long count;
 
+  /** Constructs an AccumulatorResult. */
+  public AccumulatorResult() {}
+
   /**
    * Set the value and count.
    *

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

@@ -97,4 +97,7 @@ public class AddressableLEDJNI extends JNIWrapper {
    * @see "HAL_StopAddressableLEDOutput"
    */
   public static native void stop(int handle);
+
+  /** Utility class. */
+  private AddressableLEDJNI() {}
 }

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

@@ -4,12 +4,20 @@
 
 package edu.wpi.first.hal;
 
+/** Alliance station ID. */
 public enum AllianceStationID {
+  /** Unknown. */
   Unknown,
+  /** Red 1. */
   Red1,
+  /** Red 2. */
   Red2,
+  /** Red 3. */
   Red3,
+  /** Blue 1. */
   Blue1,
+  /** Blue 2. */
   Blue2,
+  /** Blue 3. */
   Blue3
 }

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

@@ -126,4 +126,7 @@ public class AnalogGyroJNI extends JNIWrapper {
    * @see "HAL_GetAnalogGyroCenter"
    */
   public static native int getAnalogGyroCenter(int handle);
+
+  /** Utility class. */
+  private AnalogGyroJNI() {}
 }

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

@@ -497,4 +497,7 @@ public class AnalogJNI extends JNIWrapper {
    * @see "HAL_GetAnalogTriggerFPGAIndex"
    */
   public static native int getAnalogTriggerFPGAIndex(int analogTriggerHandle);
+
+  /** Utility class. */
+  private AnalogJNI() {}
 }

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

@@ -177,4 +177,7 @@ public class CANAPIJNI extends JNIWrapper {
    */
   public static native boolean readCANPacketTimeout(
       int handle, int apiId, int timeoutMs, CANData data);
+
+  /** Utility class. */
+  private CANAPIJNI() {}
 }

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

@@ -221,4 +221,7 @@ public class CTREPCMJNI extends JNIWrapper {
    * @see "HAL_SetCTREPCMOneShotDuration"
    */
   public static native void setOneShotDuration(int handle, int index, int durMs);
+
+  /** Utility class. */
+  private CTREPCMJNI() {}
 }

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

@@ -17,4 +17,7 @@ public class ConstantsJNI extends JNIWrapper {
    * @see "HAL_GetSystemClockTicksPerMicrosecond"
    */
   public static native int getSystemClockTicksPerMicrosecond();
+
+  /** Utility class. */
+  private ConstantsJNI() {}
 }

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

@@ -279,4 +279,7 @@ public class CounterJNI extends JNIWrapper {
    * @see "HAL_SetCounterReverseDirection"
    */
   public static native void setCounterReverseDirection(int counterHandle, boolean reverseDirection);
+
+  /** Utility class. */
+  private CounterJNI() {}
 }

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

@@ -178,4 +178,7 @@ public class DIOJNI extends JNIWrapper {
    * @see "HAL_SetDigitalPWMOutputChannel"
    */
   public static native void setDigitalPWMOutputChannel(int pwmGenerator, int channel);
+
+  /** Utility class. */
+  DIOJNI() {}
 }

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

@@ -245,4 +245,7 @@ public class DMAJNI extends JNIWrapper {
    * @return The DMA sample
    */
   public static native DMAJNISample.BaseStore getSensorReadData(int handle);
+
+  /** Utility class. */
+  private DMAJNI() {}
 }

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

@@ -59,4 +59,7 @@ public class DigitalGlitchFilterJNI extends JNIWrapper {
    * @see "HAL_GetFilterPeriod"
    */
   public static native int getFilterPeriod(int filterIndex);
+
+  /** Utility class. */
+  private DigitalGlitchFilterJNI() {}
 }

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

@@ -372,5 +372,6 @@ public class DriverStationJNI extends JNIWrapper {
    */
   public static native boolean getOutputsActive();
 
+  /** Utility class. */
   private DriverStationJNI() {}
 }

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

@@ -78,4 +78,7 @@ public class DutyCycleJNI extends JNIWrapper {
    * @see "HAL_GetDutyCycleFPGAIndex"
    */
   public static native int getFPGAIndex(int handle);
+
+  /** Utility class. */
+  private DutyCycleJNI() {}
 }

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

@@ -275,4 +275,7 @@ public class EncoderJNI extends JNIWrapper {
    * @see "HAL_GetEncoderEncodingType"
    */
   public static native int getEncoderEncodingType(int encoderHandle);
+
+  /** Utility class. */
+  private EncoderJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/I2CJNI.java

@@ -135,4 +135,7 @@ public class I2CJNI extends JNIWrapper {
    * @see "HAL_CloseI2C"
    */
   public static native void i2CClose(int port);
+
+  /** Utility class. */
+  private I2CJNI() {}
 }

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

@@ -113,4 +113,7 @@ public class InterruptJNI extends JNIWrapper {
    * @see "HAL_ReleaseWaitingInterrupt"
    */
   public static native void releaseWaitingInterrupt(int interruptHandle);
+
+  /** Utility class. */
+  private InterruptJNI() {}
 }

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

@@ -13,16 +13,30 @@ public class JNIWrapper {
   static boolean libraryLoaded = false;
   static RuntimeLoader<JNIWrapper> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -57,4 +71,7 @@ public class JNIWrapper {
   }
 
   public static void suppressUnused(Object object) {}
+
+  /** Utility class. */
+  public JNIWrapper() {}
 }

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

@@ -25,4 +25,7 @@ public class LEDJNI extends JNIWrapper {
    * @see "HAL_GetRadioLEDState"
    */
   public static native int getRadioLEDState();
+
+  /** Utility class. */
+  private LEDJNI() {}
 }

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

@@ -101,4 +101,7 @@ public class NotifierJNI extends JNIWrapper {
    * @return the FPGA time the notifier returned
    */
   public static native long waitForNotifierAlarm(int notifierHandle);
+
+  /** Utility class. */
+  private NotifierJNI() {}
 }

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

@@ -44,4 +44,7 @@ public class PWMJNI extends DIOJNI {
   public static native void setAlwaysHighMode(int pwmPortHandle);
 
   public static native void setPWMPeriodScale(int pwmPortHandle, int squelchMask);
+
+  /** Utility class. */
+  private PWMJNI() {}
 }

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

@@ -185,4 +185,7 @@ public class PortsJNI extends JNIWrapper {
    * @see "HAL_GetNumREVPHChannels"
    */
   public static native int getNumREVPHChannels();
+
+  /** Utility class. */
+  private PortsJNI() {}
 }

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

@@ -282,4 +282,7 @@ public class PowerDistributionJNI extends JNIWrapper {
    * @see "HAL_GetPowerDistributionVersion"
    */
   public static native PowerDistributionVersion getVersion(int handle);
+
+  /** Utility class. */
+  private PowerDistributionJNI() {}
 }

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

@@ -167,4 +167,7 @@ public class PowerJNI extends JNIWrapper {
    * @return current CPU temperature in degrees Celsius
    */
   public static native double getCPUTemp();
+
+  /** Utility class. */
+  private PowerJNI() {}
 }

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

@@ -286,4 +286,7 @@ public class REVPHJNI extends JNIWrapper {
    * @see "HAL_GetREVPHVersion"
    */
   public static native REVPHVersion getVersion(int handle);
+
+  /** Utility class. */
+  private REVPHJNI() {}
 }

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

@@ -57,4 +57,7 @@ public class RelayJNI extends DIOJNI {
    * @see "HAL_GetRelay"
    */
   public static native boolean getRelay(int relayPortHandle);
+
+  /** Utility class. */
+  private RelayJNI() {}
 }

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

@@ -302,4 +302,7 @@ public class SPIJNI extends JNIWrapper {
    */
   public static native void spiConfigureAutoStall(
       int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
+
+  /** Utility class. */
+  private SPIJNI() {}
 }

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

@@ -205,4 +205,7 @@ public class SerialPortJNI extends JNIWrapper {
    * @see "HAL_CloseSerial"
    */
   public static native void serialClose(int handle);
+
+  /** Utility class. */
+  private SerialPortJNI() {}
 }

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

@@ -286,4 +286,7 @@ public class SimDeviceJNI extends JNIWrapper {
    * @param handle simulated value handle
    */
   public static native void resetSimValue(int handle);
+
+  /** Utility class. */
+  private SimDeviceJNI() {}
 }

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

@@ -37,4 +37,7 @@ public class ThreadsJNI extends JNIWrapper {
    * @see "HAL_SetCurrentThreadPriority"
    */
   public static native boolean setCurrentThreadPriority(boolean realTime, int priority);
+
+  /** Utility class. */
+  private ThreadsJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/can/CANStreamOverflowException.java

@@ -8,7 +8,10 @@ import edu.wpi.first.hal.CANStreamMessage;
 import java.io.IOException;
 
 public class CANStreamOverflowException extends IOException {
+  /** The messages. */
   private final CANStreamMessage[] m_messages;
+
+  /** The length of messages read. */
   private final int m_messagesRead;
 
   /**

hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java

@@ -6,7 +6,16 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for accelerometer data. */
 public class AccelerometerDataJNI extends JNIWrapper {
+  /**
+   * Register a callback to be run when this accelerometer activates.
+   *
+   * @param index the index
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
   public static native int registerActiveCallback(
       int index, NotifyCallback callback, boolean initialNotify);
 
@@ -53,4 +62,7 @@ public class AccelerometerDataJNI extends JNIWrapper {
   public static native void setZ(int index, double z);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private AccelerometerDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for addressable LED data. */
 public class AddressableLEDDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -54,4 +55,7 @@ public class AddressableLEDDataJNI extends JNIWrapper {
   public static native void resetData(int index);
 
   public static native int findForChannel(int channel);
+
+  /** Utility class. */
+  private AddressableLEDDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for analog gyro data. */
 public class AnalogGyroDataJNI extends JNIWrapper {
   public static native int registerAngleCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -35,4 +36,7 @@ public class AnalogGyroDataJNI extends JNIWrapper {
   public static native void setInitialized(int index, boolean initialized);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private AnalogGyroDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for analog input data. */
 public class AnalogInDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -89,4 +90,7 @@ public class AnalogInDataJNI extends JNIWrapper {
   public static native void setAccumulatorDeadband(int index, int AccumulatorDeadband);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private AnalogInDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for analog output data. */
 public class AnalogOutDataJNI extends JNIWrapper {
   public static native int registerVoltageCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -26,4 +27,7 @@ public class AnalogOutDataJNI extends JNIWrapper {
   public static native void setInitialized(int index, boolean initialized);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private AnalogOutDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for analog trigger data. */
 public class AnalogTriggerDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -37,4 +38,7 @@ public class AnalogTriggerDataJNI extends JNIWrapper {
   public static native void resetData(int index);
 
   public static native int findForChannel(int channel);
+
+  /** Utility class. */
+  private AnalogTriggerDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/CTREPCMDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for CTRE PCM data. */
 public class CTREPCMDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -68,4 +69,7 @@ public class CTREPCMDataJNI extends JNIWrapper {
       int index, int channel, NotifyCallback callback, boolean initialNotify);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private CTREPCMDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for DIO data. */
 public class DIODataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -53,4 +54,7 @@ public class DIODataJNI extends JNIWrapper {
   public static native void setFilterIndex(int index, int filterIndex);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private DIODataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for digital PWM data. */
 public class DigitalPWMDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -37,4 +38,7 @@ public class DigitalPWMDataJNI extends JNIWrapper {
   public static native void resetData(int index);
 
   public static native int findForChannel(int channel);
+
+  /** Utility class. */
+  private DigitalPWMDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for Driver Station data. */
 public class DriverStationDataJNI extends JNIWrapper {
   public static native int registerEnabledCallback(NotifyCallback callback, boolean initialNotify);
 
@@ -134,4 +135,7 @@ public class DriverStationDataJNI extends JNIWrapper {
   public static native void setReplayNumber(int replayNumber);
 
   public static native void resetData();
+
+  /** Utility class. */
+  private DriverStationDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for duty cycle data. */
 public class DutyCycleDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -37,4 +38,7 @@ public class DutyCycleDataJNI extends JNIWrapper {
   public static native void resetData(int index);
 
   public static native int findForChannel(int channel);
+
+  /** Utility class. */
+  private DutyCycleDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for encoder data. */
 public class EncoderDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -99,4 +100,7 @@ public class EncoderDataJNI extends JNIWrapper {
   public static native void resetData(int index);
 
   public static native int findForChannel(int channel);
+
+  /** Utility class. */
+  private EncoderDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for I2C data. */
 public class I2CDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -25,4 +26,7 @@ public class I2CDataJNI extends JNIWrapper {
   public static native void cancelWriteCallback(int index, int uid);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private I2CDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java

@@ -6,8 +6,12 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for notifier data. */
 public class NotifierDataJNI extends JNIWrapper {
   public static native long getNextTimeout();
 
   public static native int getNumNotifiers();
+
+  /** Utility class. */
+  private NotifierDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for PWM data. */
 public class PWMDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -62,4 +63,7 @@ public class PWMDataJNI extends JNIWrapper {
   public static native void setZeroLatch(int index, boolean zeroLatch);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private PWMDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/PowerDistributionDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for power distribution data. */
 public class PowerDistributionDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -44,4 +45,7 @@ public class PowerDistributionDataJNI extends JNIWrapper {
   public static native void setCurrent(int index, int channel, double current);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private PowerDistributionDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for REV PH data. */
 public class REVPHDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -68,4 +69,7 @@ public class REVPHDataJNI extends JNIWrapper {
       int index, int channel, NotifyCallback callback, boolean initialNotify);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private REVPHDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for relay data. */
 public class RelayDataJNI extends JNIWrapper {
   public static native int registerInitializedForwardCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -44,4 +45,7 @@ public class RelayDataJNI extends JNIWrapper {
   public static native void setReverse(int index, boolean reverse);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private RelayDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for roboRIO data. */
 public class RoboRioDataJNI extends JNIWrapper {
   public static native int registerFPGAButtonCallback(
       NotifyCallback callback, boolean initialNotify);
@@ -186,4 +187,7 @@ public class RoboRioDataJNI extends JNIWrapper {
   public static native void setRadioLEDState(int state);
 
   public static native void resetData();
+
+  /** Utility class. */
+  private RoboRioDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for SPI accelerometer data. */
 public class SPIAccelerometerDataJNI extends JNIWrapper {
   public static native int registerActiveCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -53,4 +54,7 @@ public class SPIAccelerometerDataJNI extends JNIWrapper {
   public static native void setZ(int index, double z);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private SPIAccelerometerDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for SPI data. */
 public class SPIDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -30,4 +31,7 @@ public class SPIDataJNI extends JNIWrapper {
   public static native void cancelReadAutoReceiveBufferCallback(int index, int uid);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private SPIDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java

@@ -7,6 +7,7 @@ package edu.wpi.first.hal.simulation;
 import edu.wpi.first.hal.HALValue;
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for sim device data. */
 public class SimDeviceDataJNI extends JNIWrapper {
   public static native void setSimDeviceEnabled(String prefix, boolean enabled);
 
@@ -106,4 +107,7 @@ public class SimDeviceDataJNI extends JNIWrapper {
   public static native double[] getSimValueEnumDoubleValues(int handle);
 
   public static native void resetSimDeviceData();
+
+  /** Utility class. */
+  private SimDeviceDataJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for simulator. */
 public class SimulatorJNI extends JNIWrapper {
   public static native void setRuntimeType(int type);
 
@@ -28,4 +29,7 @@ public class SimulatorJNI extends JNIWrapper {
   public static native void stepTimingAsync(long delta);
 
   public static native void resetHandles();
+
+  /** Utility class. */
+  private SimulatorJNI() {}
 }

hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.util;
 
 /** Exception for bad status codes from the chip object. */
 public final class UncleanStatusException extends IllegalStateException {
+  /** The status code from the chip object. */
   private final int m_statusCode;
 
   /**

ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja

@@ -18,16 +18,30 @@ public final class NetworkTablesJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<NetworkTablesJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -358,5 +372,8 @@ public final class NetworkTablesJNI {
   public static native void stopConnectionDataLog(int logger);
 
   public static native int addLogger(int poller, int minLevel, int maxLevel);
+
+  /** Utility class. */
+  private NetworkTablesJNI() {}
 }
 

ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java

@@ -18,16 +18,30 @@ public final class NetworkTablesJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<NetworkTablesJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -494,4 +508,7 @@ public final class NetworkTablesJNI {
   public static native void stopConnectionDataLog(int logger);
 
   public static native int addLogger(int poller, int minLevel, int maxLevel);
+
+  /** Utility class. */
+  private NetworkTablesJNI() {}
 }

ntcore/src/main/java/edu/wpi/first/networktables/TimestampedObject.java

@@ -4,7 +4,11 @@
 
 package edu.wpi.first.networktables;
 
-/** NetworkTables timestamped object. */
+/**
+ * NetworkTables timestamped object.
+ *
+ * @param <T> Value type.
+ */
 public final class TimestampedObject<T> {
   /**
    * Create a timestamped value.

styleguide/spotbugs-exclude.xml

@@ -138,6 +138,10 @@
     <Bug pattern="URF_UNREAD_FIELD" />
     <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
   </Match>
+  <Match>
+    <Bug pattern="URF_UNREAD_FIELD" />
+    <Class name="edu.wpi.first.wpilibj.AnalogTrigger" />
+  </Match>
   <Match>
     <Bug pattern="URF_UNREAD_PUBLIC_OR_PROTECTED_FIELD" />
   </Match>

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java

@@ -15,6 +15,7 @@ import java.util.Set;
  * subsystems its components require.
  */
 public abstract class WrapperCommand extends Command {
+  /** Command being wrapped. */
   protected final Command m_command;
 
   /**

wpilibNewCommands/src/main/native/include/frc2/command/WrapperCommand.h

@@ -69,6 +69,7 @@ class WrapperCommand : public CommandHelper<Command, WrapperCommand> {
   wpi::SmallSet<Subsystem*, 4> GetRequirements() const override;
 
  protected:
+  /// Command being wrapped.
   std::unique_ptr<Command> m_command;
 };
 }  // namespace frc2

wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp

@@ -679,8 +679,13 @@ double ADIS16448_IMU::CompFilterProcess(double compAngle, double accelAngle,
   return compAngle;
 }
 
-int ADIS16448_IMU::ConfigDecRate(uint16_t DecimationSetting) {
-  uint16_t writeValue = DecimationSetting;
+int ADIS16448_IMU::ConfigDecRate(uint16_t decimationRate) {
+  // Switches the active SPI port to standard SPI mode, writes a new value to
+  // the DECIMATE register in the IMU, and re-enables auto SPI.
+  //
+  // This function enters standard SPI mode, writes a new DECIMATE setting to
+  // the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
+  uint16_t writeValue = decimationRate;
   uint16_t readbackValue;
   if (!SwitchToStandardSPI()) {
     REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
@@ -688,14 +693,14 @@ int ADIS16448_IMU::ConfigDecRate(uint16_t DecimationSetting) {
   }
 
   /* Check max */
-  if (DecimationSetting > 9) {
+  if (decimationRate > 9) {
     REPORT_ERROR(
         "Attempted to write an invalid decimation value. Capping at 9");
-    DecimationSetting = 9;
+    decimationRate = 9;
   }
 
   /* Shift decimation setting to correct position and select internal sync */
-  writeValue = (DecimationSetting << 8) | 0x1;
+  writeValue = (decimationRate << 8) | 0x1;
 
   /* Apply to IMU */
   WriteRegister(SMPL_PRD, writeValue);

wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp

@@ -348,31 +348,22 @@ int ADIS16470_IMU::ConfigCalTime(CalibrationTime new_cal_time) {
   return 0;
 }
 
-/**
- * @brief Switches the active SPI port to standard SPI mode, writes a new value
- *to the DECIMATE register in the IMU, and re-enables auto SPI.
- *
- * @param reg Decimation value to be set.
- *
- * @return An int indicating the success or failure of writing the new DECIMATE
- *setting and returning to auto SPI mode. 0 = Success, 1 = No Change, 2 =
- *Failure
- *
- * This function enters standard SPI mode, writes a new DECIMATE setting to the
- *IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
- **/
-int ADIS16470_IMU::ConfigDecRate(uint16_t reg) {
-  uint16_t m_reg = reg;
+int ADIS16470_IMU::ConfigDecRate(uint16_t decimationRate) {
+  // Switches the active SPI port to standard SPI mode, writes a new value to
+  // the DECIMATE register in the IMU, and re-enables auto SPI.
+  //
+  // This function enters standard SPI mode, writes a new DECIMATE setting to
+  // the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
   if (!SwitchToStandardSPI()) {
     REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
     return 2;
   }
-  if (m_reg > 1999) {
+  if (decimationRate > 1999) {
     REPORT_ERROR("Attempted to write an invalid decimation value.");
-    m_reg = 1999;
+    decimationRate = 1999;
   }
-  m_scaled_sample_rate = (((m_reg + 1.0) / 2000.0) * 1000000.0);
-  WriteRegister(DEC_RATE, m_reg);
+  m_scaled_sample_rate = (((decimationRate + 1.0) / 2000.0) * 1000000.0);
+  WriteRegister(DEC_RATE, decimationRate);
   if (!SwitchToAutoSPI()) {
     REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
     return 2;

wpilibc/src/main/native/include/frc/ADIS16448_IMU.h

@@ -56,23 +56,47 @@ namespace frc {
 class ADIS16448_IMU : public wpi::Sendable,
                       public wpi::SendableHelper<ADIS16448_IMU> {
  public:
-  /* ADIS16448 Calibration Time Enum Class */
+  /**
+   * ADIS16448 calibration times.
+   */
   enum class CalibrationTime {
+    /// 32 ms calibration time.
     _32ms = 0,
+    /// 64 ms calibration time.
     _64ms = 1,
+    /// 128 ms calibration time.
     _128ms = 2,
+    /// 256 ms calibration time.
     _256ms = 3,
+    /// 512 ms calibration time.
     _512ms = 4,
+    /// 1 s calibration time.
     _1s = 5,
+    /// 2 s calibration time.
     _2s = 6,
+    /// 4 s calibration time.
     _4s = 7,
+    /// 8 s calibration time.
     _8s = 8,
+    /// 16 s calibration time.
     _16s = 9,
+    /// 32 s calibration time.
     _32s = 10,
+    /// 64 s calibration time.
     _64s = 11
   };
 
-  enum IMUAxis { kX, kY, kZ };
+  /**
+   * IMU axes.
+   */
+  enum IMUAxis {
+    /// The IMU's X axis.
+    kX,
+    /// The IMU's Y axis.
+    kY,
+    /// The IMU's Z axis.
+    kZ
+  };
 
   /**
    * IMU constructor on onboard MXP CS0, Z-up orientation, and complementary
@@ -183,31 +207,71 @@ class ADIS16448_IMU : public wpi::Sendable,
    */
   units::meters_per_second_squared_t GetAccelZ() const;
 
+  /**
+   * Returns the complementary angle around the X axis computed from
+   * accelerometer and gyro rate measurements.
+   */
   units::degree_t GetXComplementaryAngle() const;
 
+  /**
+   * Returns the complementary angle around the Y axis computed from
+   * accelerometer and gyro rate measurements.
+   */
   units::degree_t GetYComplementaryAngle() const;
 
+  /**
+   * Returns the X-axis filtered acceleration angle.
+   */
   units::degree_t GetXFilteredAccelAngle() const;
 
+  /**
+   * Returns the Y-axis filtered acceleration angle.
+   */
   units::degree_t GetYFilteredAccelAngle() const;
 
+  /**
+   * Returns the magnetic field strength in the X axis.
+   */
   units::tesla_t GetMagneticFieldX() const;
 
+  /**
+   * Returns the magnetic field strength in the Y axis.
+   */
   units::tesla_t GetMagneticFieldY() const;
 
+  /**
+   * Returns the magnetic field strength in the Z axis.
+   */
   units::tesla_t GetMagneticFieldZ() const;
 
+  /**
+   * Returns the barometric pressure.
+   */
   units::pounds_per_square_inch_t GetBarometricPressure() const;
 
+  /**
+   * Returns the temperature.
+   */
   units::celsius_t GetTemperature() const;
 
   IMUAxis GetYawAxis() const;
 
   int SetYawAxis(IMUAxis yaw_axis);
 
+  /**
+   * Checks the connection status of the IMU.
+   *
+   * @return True if the IMU is connected, false otherwise.
+   */
   bool IsConnected() const;
 
-  int ConfigDecRate(uint16_t DecimationRate);
+  /**
+   * Configures the decimation rate of the IMU.
+   *
+   * @param decimationRate The new decimation value.
+   * @return 0 if success, 1 if no change, 2 if error.
+   */
+  int ConfigDecRate(uint16_t decimationRate);
 
   /**
    * Get the SPI port number.

wpilibc/src/main/native/include/frc/ADIS16470_IMU.h

@@ -53,27 +53,93 @@ namespace frc {
 class ADIS16470_IMU : public wpi::Sendable,
                       public wpi::SendableHelper<ADIS16470_IMU> {
  public:
-  /* ADIS16470 Calibration Time Enum Class */
+  /**
+   * ADIS16470 calibration times.
+   */
   enum class CalibrationTime {
+    /// 32 ms calibration time.
     _32ms = 0,
+    /// 64 ms calibration time.
     _64ms = 1,
+    /// 128 ms calibration time.
     _128ms = 2,
+    /// 256 ms calibration time.
     _256ms = 3,
+    /// 512 ms calibration time.
     _512ms = 4,
+    /// 1 s calibration time.
     _1s = 5,
+    /// 2 s calibration time.
     _2s = 6,
+    /// 4 s calibration time.
     _4s = 7,
+    /// 8 s calibration time.
     _8s = 8,
+    /// 16 s calibration time.
     _16s = 9,
+    /// 32 s calibration time.
     _32s = 10,
+    /// 64 s calibration time.
     _64s = 11
   };
 
-  enum IMUAxis { kX, kY, kZ, kYaw, kPitch, kRoll };
+  /**
+   * IMU axes.
+   *
+   * kX, kY, and kZ refer to the IMU's X, Y, and Z axes respectively. kYaw,
+   * kPitch, and kRoll are configured by the user to refer to an X, Y, or Z
+   * axis.
+   */
+  enum IMUAxis {
+    /// The IMU's X axis.
+    kX,
+    /// The IMU's Y axis.
+    kY,
+    /// The IMU's Z axis.
+    kZ,
+    /// The user-configured yaw axis.
+    kYaw,
+    /// The user-configured pitch axis.
+    kPitch,
+    /// The user-configured roll axis.
+    kRoll
+  };
 
+  /**
+   * Creates a new ADIS16740 IMU object.
+   *
+   * The default setup is the onboard SPI port with a calibration time of 4
+   * seconds. Yaw, pitch, and roll are kZ, kX, and kY respectively.
+   */
   ADIS16470_IMU();
+
+  /**
+   * Creates a new ADIS16740 IMU object.
+   *
+   * The default setup is the onboard SPI port with a calibration time of 4
+   * seconds.
+   *
+   * <b><i>Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch,or kRoll
+   * will result in an error.</i></b>
+   *
+   * @param yaw_axis The axis that measures the yaw
+   * @param pitch_axis The axis that measures the pitch
+   * @param roll_axis The axis that measures the roll
+   */
   ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis, IMUAxis roll_axis);
 
+  /**
+   * Creates a new ADIS16740 IMU object.
+   *
+   * <b><i>Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch, or
+   * kRoll will result in an error.</i></b>
+   *
+   * @param yaw_axis The axis that measures the yaw
+   * @param pitch_axis The axis that measures the pitch
+   * @param roll_axis The axis that measures the roll
+   * @param port The SPI Port the gyro is plugged into
+   * @param cal_time Calibration time
+   */
   explicit ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
                          IMUAxis roll_axis, frc::SPI::Port port,
                          CalibrationTime cal_time);
@@ -84,9 +150,12 @@ class ADIS16470_IMU : public wpi::Sendable,
   ADIS16470_IMU& operator=(ADIS16470_IMU&&) = default;
 
   /**
-   * @brief Configures the decimation rate of the IMU.
+   * Configures the decimation rate of the IMU.
+   *
+   * @param decimationRate The new decimation value.
+   * @return 0 if success, 1 if no change, 2 if error.
    */
-  int ConfigDecRate(uint16_t reg);
+  int ConfigDecRate(uint16_t decimationRate);
 
   /**
    * @brief Switches the active SPI port to standard SPI mode, writes the
@@ -101,8 +170,11 @@ class ADIS16470_IMU : public wpi::Sendable,
   int ConfigCalTime(CalibrationTime new_cal_time);
 
   /**
-   * @brief Resets the gyro accumulations to a heading of zero. This can be used
-   * if the "zero" orientation of the sensor needs to be changed in runtime.
+   * Reset the gyro.
+   *
+   * Resets the gyro accumulations to a heading of zero. This can be used if
+   * there is significant drift in the gyro and it needs to be recalibrated
+   * after running.
    */
   void Reset();
 
@@ -144,14 +216,18 @@ class ADIS16470_IMU : public wpi::Sendable,
   void SetGyroAngleZ(units::degree_t angle);
 
   /**
-   * @param axis The IMUAxis whose angle to return
-   * @return The axis angle (CCW positive)
+   * Returns the axis angle (CCW positive).
+   *
+   * @param axis The IMUAxis whose angle to return.
+   * @return The axis angle (CCW positive).
    */
   units::degree_t GetAngle(IMUAxis axis) const;
 
   /**
-   * @param axis The IMUAxis whose rate to return
-   * @return Axis angular rate (CCW positive)
+   * Returns the axis angular rate (CCW positive).
+   *
+   * @param axis The IMUAxis whose rate to return.
+   * @return Axis angular rate (CCW positive).
    */
   units::degrees_per_second_t GetRate(IMUAxis axis) const;
 

wpilibc/src/main/native/include/frc/ADXL345_I2C.h

@@ -26,14 +26,42 @@ namespace frc {
 class ADXL345_I2C : public nt::NTSendable,
                     public wpi::SendableHelper<ADXL345_I2C> {
  public:
-  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
+  /**
+   * Accelerometer range.
+   */
+  enum Range {
+    /// 2 Gs max.
+    kRange_2G = 0,
+    /// 4 Gs max.
+    kRange_4G = 1,
+    /// 8 Gs max.
+    kRange_8G = 2,
+    /// 16 Gs max.
+    kRange_16G = 3
+  };
 
-  enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+  /**
+   * Accelerometer axes.
+   */
+  enum Axes {
+    /// X axis.
+    kAxis_X = 0x00,
+    /// Y axis.
+    kAxis_Y = 0x02,
+    /// Z axis.
+    kAxis_Z = 0x04
+  };
 
+  /**
+   * Container type for accelerations from all axes.
+   */
   struct AllAxes {
-    double XAxis;
-    double YAxis;
-    double ZAxis;
+    /// Acceleration along the X axis in g-forces.
+    double XAxis = 0.0;
+    /// Acceleration along the Y axis in g-forces.
+    double YAxis = 0.0;
+    /// Acceleration along the Z axis in g-forces.
+    double ZAxis = 0.0;
   };
 
   /**

wpilibc/src/main/native/include/frc/ADXL345_SPI.h

@@ -21,14 +21,42 @@ namespace frc {
 class ADXL345_SPI : public nt::NTSendable,
                     public wpi::SendableHelper<ADXL345_SPI> {
  public:
-  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
+  /**
+   * Accelerometer range.
+   */
+  enum Range {
+    /// 2 Gs max.
+    kRange_2G = 0,
+    /// 4 Gs max.
+    kRange_4G = 1,
+    /// 8 Gs max.
+    kRange_8G = 2,
+    /// 16 Gs max.
+    kRange_16G = 3
+  };
 
-  enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+  /**
+   * Accelerometer axes.
+   */
+  enum Axes {
+    /// X axis.
+    kAxis_X = 0x00,
+    /// Y axis.
+    kAxis_Y = 0x02,
+    /// Z axis.
+    kAxis_Z = 0x04
+  };
 
+  /**
+   * Container type for accelerations from all axes.
+   */
   struct AllAxes {
-    double XAxis;
-    double YAxis;
-    double ZAxis;
+    /// Acceleration along the X axis in g-forces.
+    double XAxis = 0.0;
+    /// Acceleration along the Y axis in g-forces.
+    double YAxis = 0.0;
+    /// Acceleration along the Z axis in g-forces.
+    double ZAxis = 0.0;
   };
 
   /**

wpilibc/src/main/native/include/frc/ADXL362.h

@@ -19,13 +19,40 @@ namespace frc {
  */
 class ADXL362 : public nt::NTSendable, public wpi::SendableHelper<ADXL362> {
  public:
-  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
+  /**
+   * Accelerometer range.
+   */
+  enum Range {
+    /// 2 Gs max.
+    kRange_2G = 0,
+    /// 4 Gs max.
+    kRange_4G = 1,
+    /// 8 Gs max.
+    kRange_8G = 2
+  };
 
-  enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+  /**
+   * Accelerometer axes.
+   */
+  enum Axes {
+    /// X axis.
+    kAxis_X = 0x00,
+    /// Y axis.
+    kAxis_Y = 0x02,
+    /// Z axis.
+    kAxis_Z = 0x04
+  };
+
+  /**
+   * Container type for accelerations from all axes.
+   */
   struct AllAxes {
-    double XAxis;
-    double YAxis;
-    double ZAxis;
+    /// Acceleration along the X axis in g-forces.
+    double XAxis = 0.0;
+    /// Acceleration along the Y axis in g-forces.
+    double YAxis = 0.0;
+    /// Acceleration along the Z axis in g-forces.
+    double ZAxis = 0.0;
   };
 
  public:

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

@@ -33,14 +33,14 @@ class AnalogOutput : public wpi::Sendable,
   /**
    * Set the value of the analog output.
    *
-   * @param voltage The output value in Volts, from 0.0 to +5.0
+   * @param voltage The output value in Volts, from 0.0 to +5.0.
    */
   void SetVoltage(double voltage);
 
   /**
-   * Get the voltage of the analog output
+   * Get the voltage of the analog output.
    *
-   * @return The value in Volts, from 0.0 to +5.0
+   * @return The value in Volts, from 0.0 to +5.0.
    */
   double GetVoltage() const;
 

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

@@ -6,10 +6,15 @@
 
 namespace frc {
 
+/** Defines the state in which the AnalogTrigger triggers. */
 enum class AnalogTriggerType {
+  /// In window.
   kInWindow = 0,
+  /// State.
   kState = 1,
+  /// Rising Pulse.
   kRisingPulse = 2,
+  /// Falling pulse.
   kFallingPulse = 3
 };
 

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

@@ -17,7 +17,17 @@ namespace frc {
 class BuiltInAccelerometer : public wpi::Sendable,
                              public wpi::SendableHelper<BuiltInAccelerometer> {
  public:
-  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
+  /**
+   * Accelerometer range.
+   */
+  enum Range {
+    /// 2 Gs max.
+    kRange_2G = 0,
+    /// 4 Gs max.
+    kRange_4G = 1,
+    /// 8 Gs max.
+    kRange_8G = 2
+  };
 
   /**
    * Constructor.

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

@@ -426,25 +426,43 @@ class XboxController : public GenericHID {
    */
   BooleanEvent RightTrigger(EventLoop* loop) const;
 
+  /** Represents a digital button on an XboxController. */
   struct Button {
+    /// Left bumper.
     static constexpr int kLeftBumper = 5;
+    /// Right bumper.
     static constexpr int kRightBumper = 6;
+    /// Left stick.
     static constexpr int kLeftStick = 9;
+    /// Right stick.
     static constexpr int kRightStick = 10;
+    /// A.
     static constexpr int kA = 1;
+    /// B.
     static constexpr int kB = 2;
+    /// X.
     static constexpr int kX = 3;
+    /// Y.
     static constexpr int kY = 4;
+    /// Back.
     static constexpr int kBack = 7;
+    /// Start.
     static constexpr int kStart = 8;
   };
 
+  /** Represents an axis on an XboxController. */
   struct Axis {
+    /// Left X.
     static constexpr int kLeftX = 0;
+    /// Right X.
     static constexpr int kRightX = 4;
+    /// Left Y.
     static constexpr int kLeftY = 1;
+    /// Right Y.
     static constexpr int kRightY = 5;
+    /// Left trigger.
     static constexpr int kLeftTrigger = 2;
+    /// Right trigger.
     static constexpr int kRightTrigger = 3;
   };
 };

wpilibc/src/main/native/include/frc/interfaces/Accelerometer.h

@@ -20,7 +20,27 @@ class [[deprecated(
   Accelerometer(Accelerometer&&) = default;
   Accelerometer& operator=(Accelerometer&&) = default;
 
-  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
+  /**
+   * Accelerometer range.
+   */
+  enum Range {
+    /**
+     * 2 Gs max.
+     */
+    kRange_2G = 0,
+    /**
+     * 4 Gs max.
+     */
+    kRange_4G = 1,
+    /**
+     * 8 Gs max.
+     */
+    kRange_8G = 2,
+    /**
+     * 16 Gs max.
+     */
+    kRange_16G = 3
+  };
 
   /**
    * Common interface for setting the measuring range of an accelerometer.

wpilibc/src/main/native/include/frc/simulation/ADXL345Sim.h

@@ -14,7 +14,7 @@ class ADXL345_I2C;
 namespace sim {
 
 /**
- * Class to control a simulated ADXRS450 gyroscope.
+ * Class to control a simulated ADXL345.
  */
 class ADXL345Sim {
  public:

wpilibc/src/main/native/include/frc/simulation/ADXL362Sim.h

@@ -13,7 +13,7 @@ class ADXL362;
 namespace sim {
 
 /**
- * Class to control a simulated ADXRS450 gyroscope.
+ * Class to control a simulated ADXL362.
  */
 class ADXL362Sim {
  public:

wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h

@@ -23,9 +23,9 @@ namespace frc::sim {
  * voltage). Call the Update() method to update the simulation. Set simulated
  * sensor readings with the simulated positions in the GetOutput() method.
  *
- * @tparam States  The number of states of the system.
- * @tparam Inputs  The number of inputs to the system.
- * @tparam Outputs The number of outputs of the system.
+ * @tparam States  Number of states of the system.
+ * @tparam Inputs  Number of inputs to the system.
+ * @tparam Outputs Number of outputs of the system.
  */
 template <int States, int Inputs, int Outputs>
 class LinearSystemSim {

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java

@@ -94,18 +94,31 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   private static final int PROD_ID = 0x56; // Product identifier
   private static final int SERIAL_NUM = 0x58; // Lot-specific serial number
 
+  /** ADIS16448 calibration times. */
   public enum CalibrationTime {
+    /** 32 ms calibration time */
     _32ms(0),
+    /** 64 ms calibration time */
     _64ms(1),
+    /** 128 ms calibration time */
     _128ms(2),
+    /** 256 ms calibration time */
     _256ms(3),
+    /** 512 ms calibration time */
     _512ms(4),
+    /** 1 s calibration time */
     _1s(5),
+    /** 2 s calibration time */
     _2s(6),
+    /** 4 s calibration time */
     _4s(7),
+    /** 8 s calibration time */
     _8s(8),
+    /** 16 s calibration time */
     _16s(9),
+    /** 32 s calibration time */
     _32s(10),
+    /** 64 s calibration time */
     _64s(11);
 
     private final int value;
@@ -115,9 +128,13 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     }
   }
 
+  /** IMU axes. */
   public enum IMUAxis {
+    /** The IMU's X axis. */
     kX,
+    /** The IMU's Y axis. */
     kY,
+    /** The IMU's Z axis. */
     kZ
   }
 
@@ -248,11 +265,14 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     }
   }
 
+  /** Creates a new ADIS16448_IMU object. */
   public ADIS16448_IMU() {
     this(IMUAxis.kZ, SPI.Port.kMXP, CalibrationTime._512ms);
   }
 
   /**
+   * Creates a new ADIS16448_IMU object.
+   *
    * @param yaw_axis The axis that measures the yaw
    * @param port The SPI Port the gyro is plugged into
    * @param cal_time Calibration time
@@ -332,6 +352,11 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     m_connected = true;
   }
 
+  /**
+   * Checks the connection status of the IMU.
+   *
+   * @return True if the IMU is connected, false otherwise.
+   */
   public boolean isConnected() {
     if (m_simConnected != null) {
       return m_simConnected.get();
@@ -339,7 +364,6 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     return m_connected;
   }
 
-  /** */
   private static int toUShort(byte[] buf) {
     return (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF) << 0));
   }
@@ -348,7 +372,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     return (buf[0] & 0xFF);
   }
 
-  public static int toUShort(int... buf) {
+  private static int toUShort(int... buf) {
     return (((buf[0] & 0xFF) << 8) + (buf[1] & 0xFF));
   }
 
@@ -481,7 +505,18 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     return true;
   }
 
-  public int configDecRate(int m_decRate) {
+  /**
+   * Configures the decimation rate of the IMU.
+   *
+   * @param decimationRate The new decimation value.
+   * @return 0 if success, 1 if no change, 2 if error.
+   */
+  public int configDecRate(int decimationRate) {
+    // Switches the active SPI port to standard SPI mode, writes a new value to
+    // the DECIMATE register in the IMU, and re-enables auto SPI.
+    //
+    // This function enters standard SPI mode, writes a new DECIMATE setting to
+    // the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
     int writeValue;
     int readbackValue;
     if (!switchToStandardSPI()) {
@@ -490,19 +525,19 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     }
 
     /* Check max */
-    if (m_decRate > 9) {
+    if (decimationRate > 9) {
       DriverStation.reportError(
           "Attempted to write an invalid decimation value. Capping at 9", false);
-      m_decRate = 9;
+      decimationRate = 9;
     }
-    if (m_decRate < 0) {
+    if (decimationRate < 0) {
       DriverStation.reportError(
           "Attempted to write an invalid decimation value. Capping at 0", false);
-      m_decRate = 0;
+      decimationRate = 0;
     }
 
     /* Shift decimation setting to correct position and select internal sync */
-    writeValue = (m_decRate << 8) | 0x1;
+    writeValue = (decimationRate << 8) | 0x1;
 
     /* Apply to IMU */
     writeRegister(SMPL_PRD, writeValue);
@@ -624,6 +659,12 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     m_spi.write(buf, 2);
   }
 
+  /**
+   * Reset the gyro.
+   *
+   * <p>Resets the gyro accumulations to a heading of zero. This can be used if there is significant
+   * drift in the gyro and it needs to be recalibrated after running.
+   */
   public void reset() {
     synchronized (this) {
       m_integ_gyro_angle_x = 0.0;
@@ -957,7 +998,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return Yaw axis angle in degrees (CCW positive)
+   * Returns the yaw axis angle in degrees (CCW positive).
+   *
+   * @return Yaw axis angle in degrees (CCW positive).
    */
   public synchronized double getAngle() {
     switch (m_yaw_axis) {
@@ -973,7 +1016,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return Yaw axis angular rate in degrees per second (CCW positive)
+   * Returns the yaw axis angular rate in degrees per second (CCW positive).
+   *
+   * @return Yaw axis angular rate in degrees per second (CCW positive).
    */
   public synchronized double getRate() {
     switch (m_yaw_axis) {
@@ -989,14 +1034,18 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return Yaw Axis
+   * Returns which axis, kX, kY, or kZ, is set to the yaw axis.
+   *
+   * @return IMUAxis Yaw Axis
    */
   public IMUAxis getYawAxis() {
     return m_yaw_axis;
   }
 
   /**
-   * @return accumulated gyro angle in the X axis in degrees
+   * Returns the accumulated gyro angle in the X axis in degrees.
+   *
+   * @return The accumulated gyro angle in the X axis in degrees.
    */
   public synchronized double getGyroAngleX() {
     if (m_simGyroAngleX != null) {
@@ -1006,7 +1055,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return accumulated gyro angle in the Y axis in degrees
+   * Returns the accumulated gyro angle in the Y axis in degrees.
+   *
+   * @return The accumulated gyro angle in the Y axis in degrees.
    */
   public synchronized double getGyroAngleY() {
     if (m_simGyroAngleY != null) {
@@ -1016,7 +1067,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return accumulated gyro angle in the Z axis in degrees
+   * Returns the accumulated gyro angle in the Z axis in degrees.
+   *
+   * @return The accumulated gyro angle in the Z axis in degrees.
    */
   public synchronized double getGyroAngleZ() {
     if (m_simGyroAngleZ != null) {
@@ -1026,7 +1079,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return gyro angular rate in the X axis in degrees per second
+   * Returns the gyro angular rate in the X axis in degrees per second.
+   *
+   * @return The gyro angular rate in the X axis in degrees per second.
    */
   public synchronized double getGyroRateX() {
     if (m_simGyroRateX != null) {
@@ -1036,7 +1091,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return gyro angular rate in the Y axis in degrees per second
+   * Returns the gyro angular rate in the Y axis in degrees per second.
+   *
+   * @return The gyro angular rate in the Y axis in degrees per second.
    */
   public synchronized double getGyroRateY() {
     if (m_simGyroRateY != null) {
@@ -1046,7 +1103,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return gyro angular rate in the Z axis in degrees per second
+   * Returns the gyro angular rate in the Z axis in degrees per second.
+   *
+   * @return The gyro angular rate in the Z axis in degrees per second.
    */
   public synchronized double getGyroRateZ() {
     if (m_simGyroRateZ != null) {
@@ -1056,7 +1115,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return urrent acceleration in the X axis in meters per second squared
+   * Returns the acceleration in the X axis in meters per second squared.
+   *
+   * @return The acceleration in the X axis in meters per second squared.
    */
   public synchronized double getAccelX() {
     if (m_simAccelX != null) {
@@ -1066,7 +1127,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return current acceleration in the Y axis in meters per second squared
+   * Returns the acceleration in the Y axis in meters per second squared.
+   *
+   * @return The acceleration in the Y axis in meters per second squared.
    */
   public synchronized double getAccelY() {
     if (m_simAccelY != null) {
@@ -1076,7 +1139,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return current acceleration in the Z axis in meters per second squared
+   * Returns the acceleration in the Z axis in meters per second squared.
+   *
+   * @return The acceleration in the Z axis in meters per second squared.
    */
   public synchronized double getAccelZ() {
     if (m_simAccelZ != null) {
@@ -1086,7 +1151,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return Magnetic field strength in the X axis in Tesla
+   * Returns the magnetic field strength in the X axis in Tesla.
+   *
+   * @return The magnetic field strength in the X axis in Tesla.
    */
   public synchronized double getMagneticFieldX() {
     // mG to T
@@ -1094,7 +1161,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return Magnetic field strength in the Y axis in Tesla
+   * Returns the magnetic field strength in the Y axis in Tesla.
+   *
+   * @return The magnetic field strength in the Y axis in Tesla.
    */
   public synchronized double getMagneticFieldY() {
     // mG to T
@@ -1102,7 +1171,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return Magnetic field strength in the Z axis in Tesla
+   * Returns the magnetic field strength in the Z axis in Tesla.
+   *
+   * @return The magnetic field strength in the Z axis in Tesla.
    */
   public synchronized double getMagneticFieldZ() {
     // mG to T
@@ -1110,35 +1181,47 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return X-axis complementary angle in degrees
+   * Returns the complementary angle around the X axis computed from accelerometer and gyro rate
+   * measurements.
+   *
+   * @return The X-axis complementary angle in degrees.
    */
   public synchronized double getXComplementaryAngle() {
     return m_compAngleX;
   }
 
   /**
-   * @return Y-axis complementary angle in degrees
+   * Returns the complementary angle around the Y axis computed from accelerometer and gyro rate
+   * measurements.
+   *
+   * @return The Y-axis complementary angle in degrees.
    */
   public synchronized double getYComplementaryAngle() {
     return m_compAngleY;
   }
 
   /**
-   * @return X-axis filtered acceleration angle in degrees
+   * Returns the X-axis filtered acceleration angle in degrees.
+   *
+   * @return The X-axis filtered acceleration angle in degrees.
    */
   public synchronized double getXFilteredAccelAngle() {
     return m_accelAngleX;
   }
 
   /**
-   * @return Y-axis filtered acceleration angle in degrees
+   * Returns the Y-axis filtered acceleration angle in degrees.
+   *
+   * @return The Y-axis filtered acceleration angle in degrees.
    */
   public synchronized double getYFilteredAccelAngle() {
     return m_accelAngleY;
   }
 
   /**
-   * @return Barometric Pressure in PSI
+   * Returns the barometric pressure in PSI.
+   *
+   * @return The barometric pressure in PSI.
    */
   public synchronized double getBarometricPressure() {
     // mbar to PSI conversion
@@ -1146,7 +1229,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return Temperature in degrees Celsius
+   * Returns the temperature in degrees Celsius.
+   *
+   * @return The temperature in degrees Celsius.
    */
   public synchronized double getTemperature() {
     return m_temp;

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java

@@ -155,31 +155,31 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
     FLASH_CNT
   };
 
-  /** Calibration times for the ADIS16470. */
+  /** ADIS16470 calibration times. */
   public enum CalibrationTime {
-    /** 32ms calibration */
+    /** 32 ms calibration time */
     _32ms(0),
-    /** 64ms calibration */
+    /** 64 ms calibration time */
     _64ms(1),
-    /** 128ms calibration */
+    /** 128 ms calibration time */
     _128ms(2),
-    /** 256ms calibration */
+    /** 256 ms calibration time */
     _256ms(3),
-    /** 512ms calibration */
+    /** 512 ms calibration time */
     _512ms(4),
-    /** 1 second calibration */
+    /** 1 s calibration time */
     _1s(5),
-    /** 2 second calibration */
+    /** 2 s calibration time */
     _2s(6),
-    /** 4 second calibration */
+    /** 4 s calibration time */
     _4s(7),
-    /** 8 second calibration */
+    /** 8 s calibration time */
     _8s(8),
-    /** 16 second calibration */
+    /** 16 s calibration time */
     _16s(9),
-    /** 32 second calibration */
+    /** 32 s calibration time */
     _32s(10),
-    /** 64 second calibration */
+    /** 64 s calibration time */
     _64s(11);
 
     private final int value;
@@ -202,11 +202,11 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
     kY,
     /** The IMU's Z axis */
     kZ,
-    /** The user configured yaw axis */
+    /** The user-configured yaw axis */
     kYaw,
-    /** The user configured pitch axis */
+    /** The user-configured pitch axis */
     kPitch,
-    /** The user configured roll axis */
+    /** The user-configured roll axis */
     kRoll,
   }
 
@@ -290,19 +290,22 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * Creates a new ADIS16740 IMU object. The default setup is the onboard SPI port with a
-   * calibration time of 4 seconds. Yaw, pitch, and roll are kZ, kX, and kY respectively.
+   * Creates a new ADIS16740 IMU object.
+   *
+   * <p>The default setup is the onboard SPI port with a calibration time of 4 seconds. Yaw, pitch,
+   * and roll are kZ, kX, and kY respectively.
    */
   public ADIS16470_IMU() {
     this(IMUAxis.kZ, IMUAxis.kX, IMUAxis.kY, SPI.Port.kOnboardCS0, CalibrationTime._4s);
   }
 
   /**
-   * Creates a new ADIS16740 IMU object. The default setup is the onboard SPI port with a
-   * calibration time of 4 seconds.
+   * Creates a new ADIS16740 IMU object.
+   *
+   * <p>The default setup is the onboard SPI port with a calibration time of 4 seconds.
    *
    * <p><b><i>Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch,or kRoll will result in
-   * an error. </i></b>
+   * an error.</i></b>
    *
    * @param yaw_axis The axis that measures the yaw
    * @param pitch_axis The axis that measures the pitch
@@ -315,8 +318,8 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
   /**
    * Creates a new ADIS16740 IMU object.
    *
-   * <p><b><i> Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch,or kRoll will result in
-   * an error. </i></b>
+   * <p><b><i>Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch,or kRoll will result in
+   * an error.</i></b>
    *
    * @param yaw_axis The axis that measures the yaw
    * @param pitch_axis The axis that measures the pitch
@@ -625,21 +628,25 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
   /**
    * Configures the decimation rate of the IMU.
    *
-   * @param reg The new decimation value.
-   * @return 0 if OK, 2 if error
+   * @param decimationRate The new decimation value.
+   * @return 0 if success, 1 if no change, 2 if error.
    */
-  public int configDecRate(int reg) {
-    int m_reg = reg;
+  public int configDecRate(int decimationRate) {
+    // Switches the active SPI port to standard SPI mode, writes a new value to
+    // the DECIMATE register in the IMU, and re-enables auto SPI.
+    //
+    // This function enters standard SPI mode, writes a new DECIMATE setting to
+    // the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
     if (!switchToStandardSPI()) {
       DriverStation.reportError("Failed to configure/reconfigure standard SPI.", false);
       return 2;
     }
-    if (m_reg > 1999) {
+    if (decimationRate > 1999) {
       DriverStation.reportError("Attempted to write an invalid decimation value.", false);
-      m_reg = 1999;
+      decimationRate = 1999;
     }
-    m_scaled_sample_rate = (((m_reg + 1.0) / 2000.0) * 1000000.0);
-    writeRegister(DEC_RATE, m_reg);
+    m_scaled_sample_rate = (((decimationRate + 1.0) / 2000.0) * 1000000.0);
+    writeRegister(DEC_RATE, decimationRate);
     System.out.println("Decimation register: " + readRegister(DEC_RATE));
     if (!switchToAutoSPI()) {
       DriverStation.reportError("Failed to configure/reconfigure auto SPI.", false);
@@ -1003,8 +1010,10 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * Resets the gyro accumulations to a heading of zero. This can be used if the "zero" orientation
-   * of the sensor needs to be changed in runtime.
+   * Reset the gyro.
+   *
+   * <p>Resets the gyro accumulations to a heading of zero. This can be used if there is significant
+   * drift in the gyro and it needs to be recalibrated after running.
    */
   public void reset() {
     synchronized (this) {
@@ -1086,8 +1095,10 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @param axis The IMUAxis whose angle to return
-   * @return The axis angle in degrees (CCW positive)
+   * Returns the axis angle in degrees (CCW positive).
+   *
+   * @param axis The IMUAxis whose angle to return.
+   * @return The axis angle in degrees (CCW positive).
    */
   public synchronized double getAngle(IMUAxis axis) {
     switch (axis) {
@@ -1126,8 +1137,10 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @param axis The IMUAxis whose rate to return
-   * @return Axis angular rate in degrees per second (CCW positive)
+   * Returns the axis angular rate in degrees per second (CCW positive).
+   *
+   * @param axis The IMUAxis whose rate to return.
+   * @return Axis angular rate in degrees per second (CCW positive).
    */
   public synchronized double getRate(IMUAxis axis) {
     switch (axis) {
@@ -1192,49 +1205,65 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
   }
 
   /**
-   * @return The acceleration in the X axis
+   * Returns the acceleration in the X axis in meters per second squared.
+   *
+   * @return The acceleration in the X axis in meters per second squared.
    */
   public synchronized double getAccelX() {
     return m_accel_x * 9.81;
   }
 
   /**
-   * @return The acceleration in the Y axis
+   * Returns the acceleration in the Y axis in meters per second squared.
+   *
+   * @return The acceleration in the Y axis in meters per second squared.
    */
   public synchronized double getAccelY() {
     return m_accel_y * 9.81;
   }
 
   /**
-   * @return The acceleration in the Z axis
+   * Returns the acceleration in the Z axis in meters per second squared.
+   *
+   * @return The acceleration in the Z axis in meters per second squared.
    */
   public synchronized double getAccelZ() {
     return m_accel_z * 9.81;
   }
 
   /**
-   * @return The X-axis complementary angle
+   * Returns the complementary angle around the X axis computed from accelerometer and gyro rate
+   * measurements.
+   *
+   * @return The X-axis complementary angle in degrees.
    */
   public synchronized double getXComplementaryAngle() {
     return m_compAngleX;
   }
 
   /**
-   * @return The Y-axis complementary angle
+   * Returns the complementary angle around the Y axis computed from accelerometer and gyro rate
+   * measurements.
+   *
+   * @return The Y-axis complementary angle in degrees.
    */
   public synchronized double getYComplementaryAngle() {
     return m_compAngleY;
   }
 
   /**
-   * @return The X-axis filtered acceleration angle
+   * Returns the X-axis filtered acceleration angle in degrees.
+   *
+   * @return The X-axis filtered acceleration angle in degrees.
    */
   public synchronized double getXFilteredAccelAngle() {
     return m_accelAngleX;
   }
 
   /**
-   * @return The Y-axis filtered acceleration angle
+   * Returns the Y-axis filtered acceleration angle in degrees.
+   *
+   * @return The Y-axis filtered acceleration angle in degrees.
    */
   public synchronized double getYFilteredAccelAngle() {
     return m_accelAngleY;

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java

@@ -43,16 +43,25 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
   private static final byte kDataFormat_FullRes = 0x08;
   private static final byte kDataFormat_Justify = 0x04;
 
+  /** Accelerometer range. */
   public enum Range {
+    /** 2 Gs max. */
     k2G,
+    /** 4 Gs max. */
     k4G,
+    /** 8 Gs max. */
     k8G,
+    /** 16 Gs max. */
     k16G
   }
 
+  /** Accelerometer axes. */
   public enum Axes {
+    /** X axis. */
     kX((byte) 0x00),
+    /** Y axis. */
     kY((byte) 0x02),
+    /** Z axis. */
     kZ((byte) 0x04);
 
     /** The integer value representing this enumeration. */
@@ -63,11 +72,20 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
     }
   }
 
+  /** Container type for accelerations from all axes. */
   @SuppressWarnings("MemberName")
   public static class AllAxes {
+    /** Acceleration along the X axis in g-forces. */
     public double XAxis;
+
+    /** Acceleration along the Y axis in g-forces. */
     public double YAxis;
+
+    /** Acceleration along the Z axis in g-forces. */
     public double ZAxis;
+
+    /** Default constructor. */
+    public AllAxes() {}
   }
 
   private I2C m_i2c;
@@ -123,10 +141,20 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
     SendableRegistry.addLW(this, "ADXL345_I2C", port.value);
   }
 
+  /**
+   * Returns the I2C port.
+   *
+   * @return The I2C port.
+   */
   public int getPort() {
     return m_i2c.getPort();
   }
 
+  /**
+   * Returns the I2C device address.
+   *
+   * @return The I2C device address.
+   */
   public int getDeviceAddress() {
     return m_i2c.getDeviceAddress();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java

@@ -40,16 +40,25 @@ public class ADXL345_SPI implements NTSendable, AutoCloseable {
   private static final int kDataFormat_FullRes = 0x08;
   private static final int kDataFormat_Justify = 0x04;
 
+  /** Accelerometer range. */
   public enum Range {
+    /** 2 Gs max. */
     k2G,
+    /** 4 Gs max. */
     k4G,
+    /** 8 Gs max. */
     k8G,
+    /** 16 Gs max. */
     k16G
   }
 
+  /** Accelerometer axes. */
   public enum Axes {
+    /** X axis. */
     kX((byte) 0x00),
+    /** Y axis. */
     kY((byte) 0x02),
+    /** Z axis. */
     kZ((byte) 0x04);
 
     /** The integer value representing this enumeration. */
@@ -60,11 +69,20 @@ public class ADXL345_SPI implements NTSendable, AutoCloseable {
     }
   }
 
+  /** Container type for accelerations from all axes. */
   @SuppressWarnings("MemberName")
   public static class AllAxes {
+    /** Acceleration along the X axis in g-forces. */
     public double XAxis;
+
+    /** Acceleration along the Y axis in g-forces. */
     public double YAxis;
+
+    /** Acceleration along the Z axis in g-forces. */
     public double ZAxis;
+
+    /** Default constructor. */
+    public AllAxes() {}
   }
 
   private SPI m_spi;
@@ -102,6 +120,11 @@ public class ADXL345_SPI implements NTSendable, AutoCloseable {
     SendableRegistry.addLW(this, "ADXL345_SPI", port.value);
   }
 
+  /**
+   * Returns the SPI port.
+   *
+   * @return The SPI port.
+   */
   public int getPort() {
     return m_spi.getPort();
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java

@@ -43,17 +43,26 @@ public class ADXL362 implements NTSendable, AutoCloseable {
 
   private static final byte kPowerCtl_Measure = 0x02;
 
+  /** Accelerometer range. */
   public enum Range {
+    /** 2 Gs max. */
     k2G,
+    /** 4 Gs max. */
     k4G,
+    /** 8 Gs max. */
     k8G
   }
 
+  /** Accelerometer axes. */
   public enum Axes {
+    /** X axis. */
     kX((byte) 0x00),
+    /** Y axis. */
     kY((byte) 0x02),
+    /** Z axis. */
     kZ((byte) 0x04);
 
+    /** Axis value. */
     public final byte value;
 
     Axes(byte value) {
@@ -61,11 +70,20 @@ public class ADXL362 implements NTSendable, AutoCloseable {
     }
   }
 
+  /** Container type for accelerations from all axes. */
   @SuppressWarnings("MemberName")
   public static class AllAxes {
+    /** Acceleration along the X axis in g-forces. */
     public double XAxis;
+
+    /** Acceleration along the Y axis in g-forces. */
     public double YAxis;
+
+    /** Acceleration along the Z axis in g-forces. */
     public double ZAxis;
+
+    /** Default constructor. */
+    public AllAxes() {}
   }
 
   private SPI m_spi;
@@ -142,6 +160,11 @@ public class ADXL362 implements NTSendable, AutoCloseable {
     SendableRegistry.addLW(this, "ADXL362", port.value);
   }
 
+  /**
+   * Returns the SPI port.
+   *
+   * @return The SPI port.
+   */
   public int getPort() {
     return m_spi.getPort();
   }

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

@@ -22,9 +22,9 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
   private double m_distancePerRotation = 1.0;
   private double m_lastPosition;
 
-  protected SimDevice m_simDevice;
-  protected SimDouble m_simPosition;
-  protected SimDouble m_simAbsolutePosition;
+  private SimDevice m_simDevice;
+  private SimDouble m_simPosition;
+  private SimDouble m_simAbsolutePosition;
 
   /**
    * Construct a new AnalogEncoder attached to a specific AnalogIn channel.

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

@@ -50,10 +50,20 @@ public class AnalogOutput implements Sendable, AutoCloseable {
     return m_channel;
   }
 
+  /**
+   * Set the value of the analog output.
+   *
+   * @param voltage The output value in Volts, from 0.0 to +5.0.
+   */
   public void setVoltage(double voltage) {
     AnalogJNI.setAnalogOutput(m_port, voltage);
   }
 
+  /**
+   * Get the voltage of the analog output.
+   *
+   * @return The value in Volts, from 0.0 to +5.0.
+   */
   public double getVoltage() {
     return AnalogJNI.getAnalogOutput(m_port);
   }

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

@@ -30,9 +30,12 @@ public class AnalogTrigger implements Sendable, AutoCloseable {
   /** Where the analog trigger is attached. */
   protected int m_port;
 
-  protected AnalogInput m_analogInput;
-  protected DutyCycle m_dutyCycle;
-  protected boolean m_ownsAnalog;
+  private AnalogInput m_analogInput;
+
+  @SuppressWarnings({"PMD.SingularField", "PMD.UnusedPrivateField"})
+  private DutyCycle m_dutyCycle;
+
+  private boolean m_ownsAnalog;
 
   /**
    * Constructor for an analog trigger given a channel number.

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

@@ -106,9 +106,13 @@ public class AnalogTriggerOutput extends DigitalSource implements Sendable {
 
   /** Defines the state in which the AnalogTrigger triggers. */
   public enum AnalogTriggerType {
+    /** In window. */
     kInWindow(AnalogJNI.AnalogTriggerType.kInWindow),
+    /** State. */
     kState(AnalogJNI.AnalogTriggerType.kState),
+    /** Rising pulse. */
     kRisingPulse(AnalogJNI.AnalogTriggerType.kRisingPulse),
+    /** Falling pulse. */
     kFallingPulse(AnalogJNI.AnalogTriggerType.kFallingPulse);
 
     private final int value;

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

@@ -17,9 +17,13 @@ import edu.wpi.first.util.sendable.SendableRegistry;
  * <p>This class allows access to the roboRIO's internal accelerometer.
  */
 public class BuiltInAccelerometer implements Sendable, AutoCloseable {
+  /** Accelerometer range. */
   public enum Range {
+    /** 2 Gs max. */
     k2G,
+    /** 4 Gs max. */
     k4G,
+    /** 8 Gs max. */
     k8G
   }
 

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

@@ -11,8 +11,18 @@ package edu.wpi.first.wpilibj;
  * source. The source can either be a digital input or analog trigger but not both.
  */
 public abstract class DigitalSource implements AutoCloseable {
+  /**
+   * Returns true if this DigitalSource is an AnalogTrigger.
+   *
+   * @return True if this DigitalSource is an AnalogTrigger.
+   */
   public abstract boolean isAnalogTrigger();
 
+  /**
+   * The DigitalSource channel.
+   *
+   * @return The DigitalSource channel.
+   */
   public abstract int getChannel();
 
   /**

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

@@ -23,17 +23,28 @@ import edu.wpi.first.wpilibj.event.EventLoop;
 public class XboxController extends GenericHID {
   /** Represents a digital button on an XboxController. */
   public enum Button {
+    /** Left bumper. */
     kLeftBumper(5),
+    /** Right bumper. */
     kRightBumper(6),
+    /** Left stick. */
     kLeftStick(9),
+    /** Right stick. */
     kRightStick(10),
+    /** A. */
     kA(1),
+    /** B. */
     kB(2),
+    /** X. */
     kX(3),
+    /** Y. */
     kY(4),
+    /** Back. */
     kBack(7),
+    /** Start. */
     kStart(8);
 
+    /** Button value. */
     public final int value;
 
     Button(int value) {
@@ -60,13 +71,20 @@ public class XboxController extends GenericHID {
 
   /** Represents an axis on an XboxController. */
   public enum Axis {
+    /** Left X. */
     kLeftX(0),
+    /** Right X. */
     kRightX(4),
+    /** Left Y. */
     kLeftY(1),
+    /** Right Y. */
     kRightY(5),
+    /** Left trigger. */
     kLeftTrigger(2),
+    /** Right trigger. */
     kRightTrigger(3);
 
+    /** Axis value. */
     public final int value;
 
     Axis(int value) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java

@@ -11,10 +11,15 @@ package edu.wpi.first.wpilibj.interfaces;
  */
 @Deprecated(since = "2024", forRemoval = true)
 public interface Accelerometer {
+  /** Accelerometer range. */
   enum Range {
+    /** 2 Gs max. */
     k2G,
+    /** 4 Gs max. */
     k4G,
+    /** 8 Gs max. */
     k8G,
+    /** 16 Gs max. */
     k16G
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXL345Sim.java

@@ -9,10 +9,11 @@ import edu.wpi.first.wpilibj.ADXL345_I2C;
 import edu.wpi.first.wpilibj.ADXL345_SPI;
 import java.util.Objects;
 
+/** Class to control a simulated ADXL345. */
 public class ADXL345Sim {
-  protected SimDouble m_simX;
-  protected SimDouble m_simY;
-  protected SimDouble m_simZ;
+  private SimDouble m_simX;
+  private SimDouble m_simY;
+  private SimDouble m_simZ;
 
   /**
    * Constructor.
@@ -48,15 +49,30 @@ public class ADXL345Sim {
     Objects.requireNonNull(m_simZ);
   }
 
-  public void setX(double x) {
-    m_simX.set(x);
+  /**
+   * Sets the X acceleration.
+   *
+   * @param accel The X acceleration.
+   */
+  public void setX(double accel) {
+    m_simX.set(accel);
   }
 
-  public void setY(double y) {
-    m_simY.set(y);
+  /**
+   * Sets the Y acceleration.
+   *
+   * @param accel The Y acceleration.
+   */
+  public void setY(double accel) {
+    m_simY.set(accel);
   }
 
-  public void setZ(double z) {
-    m_simZ.set(z);
+  /**
+   * Sets the Z acceleration.
+   *
+   * @param accel The Z acceleration.
+   */
+  public void setZ(double accel) {
+    m_simZ.set(accel);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXL362Sim.java

@@ -8,10 +8,11 @@ import edu.wpi.first.hal.SimDouble;
 import edu.wpi.first.wpilibj.ADXL362;
 import java.util.Objects;
 
+/** Class to control a simulated ADXL362. */
 public class ADXL362Sim {
-  protected SimDouble m_simX;
-  protected SimDouble m_simY;
-  protected SimDouble m_simZ;
+  private SimDouble m_simX;
+  private SimDouble m_simY;
+  private SimDouble m_simZ;
 
   /**
    * Constructor.
@@ -34,15 +35,30 @@ public class ADXL362Sim {
     Objects.requireNonNull(m_simZ);
   }
 
-  public void setX(double x) {
-    m_simX.set(x);
+  /**
+   * Sets the X acceleration.
+   *
+   * @param accel The X acceleration.
+   */
+  public void setX(double accel) {
+    m_simX.set(accel);
   }
 
-  public void setY(double y) {
-    m_simY.set(y);
+  /**
+   * Sets the Y acceleration.
+   *
+   * @param accel The Y acceleration.
+   */
+  public void setY(double accel) {
+    m_simY.set(accel);
   }
 
-  public void setZ(double z) {
-    m_simZ.set(z);
+  /**
+   * Sets the Z acceleration.
+   *
+   * @param accel The Z acceleration.
+   */
+  public void setZ(double accel) {
+    m_simZ.set(accel);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java

@@ -23,9 +23,9 @@ import org.ejml.simple.SimpleMatrix;
  *
  * <p>Set simulated sensor readings with the simulated positions in {@link #getOutput()}
  *
- * @param <States> The number of states of the system.
- * @param <Inputs> The number of inputs to the system.
- * @param <Outputs> The number of outputs of the system.
+ * @param <States> Number of states of the system.
+ * @param <Inputs> Number of inputs to the system.
+ * @param <Outputs> Number of outputs of the system.
  */
 public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs extends Num> {
   // The plant that represents the linear system.