diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
index 91fce9af9e..faf8fce7bc 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
@@ -53,7 +53,7 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer {
/**
* Constructor.
- *
+ * @param port The I2C port the accelerometer is attached to
* @param range The range (+ or -) that the accelerometer will measure.
*/
public ADXL345_I2C(I2C.Port port, Range range) {
@@ -132,7 +132,7 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer {
/**
* Get the acceleration of all axes in Gs.
*
- * @return Acceleration measured on all axes of the ADXL345 in Gs.
+ * @return An object containing the acceleration measured on each axis of the ADXL345 in Gs.
*/
public AllAxes getAccelerations() {
AllAxes data = new AllAxes();
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
index 555c0e49df..7d30847e01 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
@@ -69,7 +69,7 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer {
/**
* Constructor.
*
- * @param port the Port that the accelerometer is connected to
+ * @param port The SPI port that the accelerometer is connected to
* @param range The range (+ or -) that the accelerometer will measure.
*/
public ADXL345_SPI(SPI.Port port, Range range) {
@@ -170,7 +170,7 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer {
/**
* Get the acceleration of all axes in Gs.
*
- * @return Acceleration measured on all axes of the ADXL345 in Gs.
+ * @return An object containing the acceleration measured on each axis of the ADXL345 in Gs.
*/
public ADXL345_SPI.AllAxes getAccelerations() {
ADXL345_SPI.AllAxes data = new ADXL345_SPI.AllAxes();
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
index ecdcc18810..653137287e 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
@@ -39,7 +39,7 @@ public class AnalogAccelerometer extends SensorBase implements PIDSource, LiveWi
* Create a new instance of an accelerometer.
*
* The constructor allocates desired analog channel.
- * @param channel the port that the accelerometer is on
+ * @param channel The channel number for the analog input the accelerometer is connected to
*/
public AnalogAccelerometer(final int channel) {
m_allocatedChannel = true;
@@ -52,7 +52,7 @@ public class AnalogAccelerometer extends SensorBase implements PIDSource, LiveWi
* Make a new instance of accelerometer given an AnalogChannel. This is particularly
* useful if the port is going to be read as an analog channel as well as through
* the Accelerometer class.
- * @param channel an already initialized analog channel
+ * @param channel The existing AnalogInput object for the analog input the accelerometer is connected to
*/
public AnalogAccelerometer(AnalogInput channel) {
m_allocatedChannel = false;
@@ -87,7 +87,7 @@ public class AnalogAccelerometer extends SensorBase implements PIDSource, LiveWi
* Set the accelerometer sensitivity.
*
* This sets the sensitivity of the accelerometer used for calculating the acceleration.
- * The sensitivity varys by accelerometer model. There are constants defined for various models.
+ * The sensitivity varies by accelerometer model. There are constants defined for various models.
*
* @param sensitivity The sensitivity of accelerometer in Volts per G.
*/
@@ -98,7 +98,7 @@ public class AnalogAccelerometer extends SensorBase implements PIDSource, LiveWi
/**
* Set the voltage that corresponds to 0 G.
*
- * The zero G voltage varys by accelerometer model. There are constants defined for various models.
+ * The zero G voltage varies by accelerometer model. There are constants defined for various models.
*
* @param zero The zero G voltage.
*/
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
index fffc37483c..5e51e230cb 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
@@ -52,8 +52,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
/**
* Construct an analog channel.
*
- * @param channel
- * The channel number to represent.
+ * @param channel The channel number to represent. 0-3 are on-board 4-7 are on the MXP port.
*/
public AnalogInput(final int channel) {
m_channel = channel;
@@ -108,10 +107,10 @@ public class AnalogInput extends SensorBase implements PIDSource,
/**
* Get a sample from the output of the oversample and average engine for
- * this channel. The sample is 12-bit + the value configured in
+ * this channel. The sample is 12-bit + the bits configured in
* SetOversampleBits(). The value configured in setAverageBits() will cause
- * this value to be averaged 2**bits number of samples. This is not a
- * sliding window. The sample will not change until 2**(OversamplBits +
+ * this value to be averaged 2^bits number of samples. This is not a
+ * sliding window. The sample will not change until 2^(OversampleBits +
* AverageBits) samples have been acquired from this channel. Use
* getAverageVoltage() to get the analog value in calibrated units.
*
@@ -208,7 +207,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
/**
* Set the number of averaging bits. This sets the number of averaging bits.
- * The actual number of averaged samples is 2**bits. The averaging is done
+ * The actual number of averaged samples is 2^bits. The averaging is done
* automatically in the FPGA.
*
* @param bits
@@ -224,7 +223,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
/**
* Get the number of averaging bits. This gets the number of averaging bits
- * from the FPGA. The actual number of averaged samples is 2**bits. The
+ * from the FPGA. The actual number of averaged samples is 2^bits. The
* averaging is done automatically in the FPGA.
*
* @return The number of averaging bits.
@@ -240,7 +239,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
/**
* Set the number of oversample bits. This sets the number of oversample
- * bits. The actual number of oversampled values is 2**bits. The
+ * bits. The actual number of oversampled values is 2^bits. The
* oversampling is done automatically in the FPGA.
*
* @param bits
@@ -256,7 +255,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
/**
* Get the number of oversample bits. This gets the number of oversample
- * bits from the FPGA. The actual number of oversampled values is 2**bits.
+ * bits from the FPGA. The actual number of oversampled values is 2^bits.
* The oversampling is done automatically in the FPGA.
*
* @return The number of oversample bits.
@@ -290,7 +289,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
}
/**
- * Set an inital value for the accumulator.
+ * Set an initial value for the accumulator.
*
* This will be added to all values returned to the user.
*
@@ -325,11 +324,11 @@ public class AnalogInput extends SensorBase implements PIDSource,
*
* The center value is subtracted from each A/D value before it is added to
* the accumulator. This is used for the center value of devices like gyros
- * and accelerometers to make integration work and to take the device offset
+ * and accelerometers to take the device offset
* into account when integrating.
*
* This center value is based on the output of the oversampled and averaged
- * source from channel 1. Because of this, any non-zero oversample bits will
+ * source the accumulator channel. Because of this, any non-zero oversample bits will
* affect the size of the value for this field.
*/
public void setAccumulatorCenter(int center) {
@@ -342,6 +341,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
/**
* Set the accumulator's deadband.
+ * @param deadband The deadband size in ADC codes (12-bit value)
*/
public void setAccumulatorDeadband(int deadband) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -354,7 +354,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
/**
* Read the accumulated value.
*
- * Read the value that has been accumulating on channel 1. The accumulator
+ * Read the value that has been accumulating. The accumulator
* is attached after the oversample and average engine.
*
* @return The 64-bit value accumulated since the last Reset().
@@ -433,10 +433,11 @@ public class AnalogInput extends SensorBase implements PIDSource,
}
/**
- * Set the sample rate.
+ * Set the sample rate per channel.
*
* This is a global setting for all channels.
- *
+ * The maximum rate is 500kS/s divided by the number of channels in use.
+ * This is 62500 samples/s per channel if all 8 channels are used.
* @param samplesPerSecond The number of samples per second.
*/
public static void setGlobalSampleRate(final double samplesPerSecond) {
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
index b2775e535b..79c23149b4 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
@@ -70,7 +70,7 @@ public class AnalogTrigger {
* Constructor for an analog trigger given a channel number.
*
* @param channel
- * the port to use for the analog trigger
+ * the port to use for the analog trigger 0-3 are on-board, 4-7 are on the MXP port
*/
public AnalogTrigger(final int channel) {
initTrigger(channel);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Compressor.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Compressor.java
index 6b3342ea4e..925f389626 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Compressor.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Compressor.java
@@ -36,8 +36,8 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
/**
* Create an instance of the Compressor
- * Makes a new instance of the compressor using the default address. Additional modules can be
- * supported by making a new instancce and specifying the CAN ID
+ * Makes a new instance of the compressor using the default PCM ID (0). Additional modules can be
+ * supported by making a new instance and specifying the CAN ID
*/
public Compressor() {
initCompressor(getDefaultSolenoidModule());
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java
index 771061c14a..a3fe44c939 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/ControllerPower.java
@@ -18,7 +18,7 @@ public class ControllerPower
{
/**
* Get the input voltage to the robot controller
- * @return The controller input voltage value
+ * @return The controller input voltage value in Volts
*/
public static double getInputVoltage()
{
@@ -31,7 +31,7 @@ public class ControllerPower
/**
* Get the input current to the robot controller
- * @return The controller input current value
+ * @return The controller input current value in Amps
*/
public static double getInputCurrent()
{
@@ -44,7 +44,7 @@ public class ControllerPower
/**
* Get the voltage of the 3.3V rail
- * @return The controller 3.3V rail voltage value
+ * @return The controller 3.3V rail voltage value in Volts
*/
public static double getVoltage3V3()
{
@@ -57,7 +57,7 @@ public class ControllerPower
/**
* Get the current output of the 3.3V rail
- * @return The controller 3.3V rail output current value
+ * @return The controller 3.3V rail output current value in Volts
*/
public static double getCurrent3V3()
{
@@ -97,7 +97,7 @@ public class ControllerPower
/**
* Get the voltage of the 5V rail
- * @return The controller 5V rail voltage value
+ * @return The controller 5V rail voltage value in Volts
*/
public static double getVoltage5V()
{
@@ -110,7 +110,7 @@ public class ControllerPower
/**
* Get the current output of the 5V rail
- * @return The controller 5V rail output current value
+ * @return The controller 5V rail output current value in Amps
*/
public static double getCurrent5V()
{
@@ -150,7 +150,7 @@ public class ControllerPower
/**
* Get the voltage of the 6V rail
- * @return The controller 6V rail voltage value
+ * @return The controller 6V rail voltage value in Volts
*/
public static double getVoltage6V()
{
@@ -163,7 +163,7 @@ public class ControllerPower
/**
* Get the current output of the 6V rail
- * @return The controller 6V rail output current value
+ * @return The controller 6V rail output current value in Amps
*/
public static double getCurrent6V()
{
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Counter.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Counter.java
index 9dde48dc20..7670056bfc 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Counter.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Counter.java
@@ -106,7 +106,7 @@ public class Counter extends SensorBase implements CounterBase,
/**
* Create an instance of a counter from a Digital Input. This is used if an
* existing digital input is to be shared by multiple other objects such as
- * encoders.
+ * encoders or if the Digital Source is not a DIO channel (such as an Analog Trigger)
*
* The counter will start counting immediately.
*
@@ -127,7 +127,7 @@ public class Counter extends SensorBase implements CounterBase,
* The counter will start counting immediately.
*
* @param channel
- * the digital input channel to count
+ * the DIO channel to use as the up source. 0-9 are on-board, 10-25 are on the MXP
*/
public Counter(int channel) {
initCounter(Mode.kTwoPulse);
@@ -220,7 +220,7 @@ public class Counter extends SensorBase implements CounterBase,
* Set the upsource for the counter as a digital input channel.
*
* @param channel
- * the digital port to count
+ * the DIO channel to count 0-9 are on-board, 10-25 are on the MXP
*/
public void setUpSource(int channel) {
setUpSource(new DigitalInput(channel));
@@ -308,7 +308,7 @@ public class Counter extends SensorBase implements CounterBase,
* Set the down counting source to be a digital input channel.
*
* @param channel
- * the digital port to count
+ * the DIO channel to count 0-9 are on-board, 10-25 are on the MXP
*/
public void setDownSource(int channel) {
setDownSource(new DigitalInput(channel));
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
index 0cc3ed3eaf..a5dded5266 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java
@@ -32,7 +32,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
* given a channel.
*
* @param channel
- * the port for the digital input
+ * the DIO channel for the digital input 0-9 are on-board, 10-25 are on the MXP
*/
public DigitalInput(int channel) {
initDigitalPort(channel, true);
@@ -45,7 +45,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
* Get the value from a digital input channel. Retrieve the value of a
* single digital input channel from the FPGA.
*
- * @return the stats of the digital input
+ * @return the status of the digital input
*/
public boolean get() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
index f8d47ac0aa..42875e8dcb 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -34,7 +34,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
* output given a channel.
*
* @param channel
- * the port to use for the digital output
+ * the DIO channel to use for the digital output. 0-9 are on-board, 10-25 are on the MXP
*/
public DigitalOutput(int channel) {
initDigitalPort(channel, false);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
index fdfaefda6b..313250de98 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
@@ -75,9 +75,9 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
/**
* Constructor.
- *
- * @param forwardChannel The forward channel on the module to control.
- * @param reverseChannel The reverse channel on the module to control.
+ * Uses the default PCM ID of 0
+ * @param forwardChannel The forward channel number on the PCM.
+ * @param reverseChannel The reverse channel number on the PCM.
*/
public DoubleSolenoid(final int forwardChannel, final int reverseChannel) {
super(getDefaultSolenoidModule());
@@ -111,7 +111,7 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
/**
* Set the value of a solenoid.
*
- * @param value Move the solenoid to forward, reverse, or don't move it.
+ * @param value The value to set (Off, Forward, Reverse)
*/
public void set(final Value value) {
byte rawValue = 0;
@@ -147,7 +147,7 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
* Check if the forward solenoid is blacklisted.
* If a solenoid is shorted, it is added to the blacklist and
* disabled until power cycle, or until faults are cleared.
- * @see clearAllPCMStickyFaults()
+ * @see #clearAllPCMStickyFaults()
*
* @return If solenoid is disabled due to short.
*/
@@ -159,7 +159,7 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
* Check if the reverse solenoid is blacklisted.
* If a solenoid is shorted, it is added to the blacklist and
* disabled until power cycle, or until faults are cleared.
- * @see clearAllPCMStickyFaults()
+ * @see #clearAllPCMStickyFaults()
*
* @return If solenoid is disabled due to short.
*/
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index 83bedadbfb..2b41fbf632 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -183,7 +183,7 @@ public class DriverStation implements RobotState.Interface {
/**
* Read the battery voltage.
*
- * @return The battery voltage.
+ * @return The battery voltage in Volts.
*/
public double getBatteryVoltage() {
IntBuffer status = ByteBuffer.allocateDirect(4).asIntBuffer();
@@ -193,6 +193,11 @@ public class DriverStation implements RobotState.Interface {
return voltage;
}
+ /**
+ * Reports errors telated to unplugged joysticks
+ * Throttles the errors so that they don't overwhelm the DS
+ */
+
private void reportJoystickUnpluggedError(String message) {
double currentTime = Timer.getFPGATimestamp();
if (currentTime > m_nextMessageTime) {
@@ -233,9 +238,10 @@ public class DriverStation implements RobotState.Interface {
}
/**
- * Returns the number of axis on a given joystick port
+ * Returns the number of axes on a given joystick port
*
* @param stick The joystick port number
+ * @return The number of axes on the indicated joystick
*/
public synchronized int getStickAxisCount(int stick){
@@ -272,6 +278,7 @@ public class DriverStation implements RobotState.Interface {
* Returns the number of POVs on a given joystick port
*
* @param stick The joystick port number
+ * @return The number of POVs on the indicated joystick
*/
public synchronized int getStickPOVCount(int stick){
@@ -284,7 +291,6 @@ public class DriverStation implements RobotState.Interface {
/**
* The state of the buttons on the joystick.
- * 12 buttons (4 msb are unused) from the joystick.
*
* @param stick The joystick to read.
* @return The state of the buttons on the joystick.
@@ -323,14 +329,15 @@ public class DriverStation implements RobotState.Interface {
}
/**
- * Gets the number of buttons on a joystick
+ * Gets the number of buttons on a joystick
*
- * @param stick the joystick port number
+ * @param stick The joystick port number
+ * @return The number of buttons on the indicated joystick
*/
public synchronized int getStickButtonCount(int stick){
if(stick < 0 || stick >= kJoystickPorts) {
- throw new RuntimeException("Joystick index is out of range, should be 0-3");
+ throw new RuntimeException("Joystick index is out of range, should be 0-5");
}
@@ -389,6 +396,12 @@ public class DriverStation implements RobotState.Interface {
return !(isAutonomous() || isTest());
}
+ /**
+ * Gets a value indicating whether the FPGA outputs are enabled. The outputs may be disabled
+ * if the robot is disabled or e-stopped, the watdhog has expired, or if the roboRIO browns out.
+ *
+ * @return True if the FPGA outputs are enabled.
+ */
public boolean isSysActive() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -397,6 +410,11 @@ public class DriverStation implements RobotState.Interface {
return retVal;
}
+ /**
+ * Check if the system is browned out.
+ *
+ * @return True if the system is browned out
+ */
public boolean isBrownedOut() {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -484,16 +502,15 @@ public class DriverStation implements RobotState.Interface {
return controlWord.getDSAttached();
}
- /**
- * Return the approximate match time
- * The FMS does not currently send the official match time to the robots
- * This returns the time since the enable signal sent from the Driver Station
- * At the beginning of autonomous, the time is reset to 0.0 seconds
- * At the beginning of teleop, the time is reset to +15.0 seconds
- * If the robot is disabled, this returns 0.0 seconds
- * Warning: This is not an official time (so it cannot be used to argue with referees)
- * @return Match time in seconds since the beginning of autonomous
- */
+ /**
+ * Return the approximate match time
+ * The FMS does not send an official match time to the robots, but does send an approximate match time.
+ * The value will count down the time remaining in the current period (auto or teleop).
+ * Warning: This is not an official time (so it cannot be used to dispute ref calls or guarantee that a function
+ * will trigger before the match ends)
+ * The Practice Match function of the DS approximates the behaviour seen on the field.
+ * @return Time remaining in current match period (auto or teleop) in seconds
+ */
public double getMatchTime() {
return FRCNetworkCommunicationsLibrary.HALGetMatchTime();
}
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Encoder.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Encoder.java
index 207f4f9509..cc3ceaa2fe 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Encoder.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Encoder.java
@@ -116,9 +116,9 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* The encoder will start counting immediately.
*
* @param aChannel
- * The a channel digital input channel.
+ * The a channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
* @param bChannel
- * The b channel digital input channel.
+ * The b channel DIO channel. 0-9 are on-board, 10-25 are on the MXP port
* @param reverseDirection
* represents the orientation of the encoder and inverts the
* output values if necessary so forward represents positive
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/GearTooth.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
index 61a8665b05..9a8ca99cdb 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
@@ -44,8 +44,8 @@ public class GearTooth extends Counter {
/**
* Construct a GearTooth sensor given a channel.
*
- * @param channel The GPIO channel that the sensor is connected to.
- * @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
+ * @param channel The DIO channel that the sensor is connected to. 0-9 are on-board, 10-25 are on the MXP port
+ * @param directionSensitive True to enable the pulse length decoding in hardware to specify count direction.
*/
public GearTooth(final int channel, boolean directionSensitive) {
super(channel);
@@ -60,10 +60,10 @@ public class GearTooth extends Counter {
/**
* Construct a GearTooth sensor given a digital input.
- * This should be used when sharing digial inputs.
+ * This should be used when sharing digital inputs.
*
- * @param source An object that fully descibes the input that the sensor is connected to.
- * @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
+ * @param source An existing DigitalSource object (such as a DigitalInput)
+ * @param directionSensitive True to enable the pulse length decoding in hardware to specify count direction.
*/
public GearTooth(DigitalSource source, boolean directionSensitive) {
super(source);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Gyro.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Gyro.java
index fc73d803b5..eade389ad4 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Gyro.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Gyro.java
@@ -39,7 +39,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
/**
* Initialize the gyro. Calibrate the gyro by running for a number of
- * samples and computing the center value for this part. Then use the center
+ * samples and computing the center value. Then use the center
* value as the Accumulator center value for subsequent measurements. It's
* important to make sure that the robot is not moving while the centering
* calculations are in progress, this is typically done when the robot is
@@ -82,10 +82,10 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
}
/**
- * Gyro constructor with only a channel.
+ * Gyro constructor using the channel number
*
* @param channel
- * The analog channel the gyro is connected to.
+ * The analog channel the gyro is connected to. 0-3 are on-board 4-7 are on the MXP port.
*/
public Gyro(int channel) {
this(new AnalogInput(channel));
@@ -97,7 +97,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
* constructor when the analog channel needs to be shared.
*
* @param channel
- * The AnalogChannel object that the gyro is connected to.
+ * The AnalogInput object that the gyro is connected to.
*/
public Gyro(AnalogInput channel) {
m_analog = channel;
@@ -135,9 +135,9 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
*
* The angle is based on the current accumulator value corrected by the
* oversampling rate, the gyro type and the A/D calibration values. The
- * angle is continuous, that is can go beyond 360 degrees. This make
+ * angle is continuous, that is it will continue from 360 to 361 degrees. This allows
* algorithms that wouldn't want to see a discontinuity in the gyro output
- * as it sweeps past 0 on the second time around.
+ * as it sweeps past from 360 to 0 on the second time around.
*
* @return the current heading of the robot in degrees. This heading is
* based on integration of the returned rate from the gyro.
@@ -179,13 +179,13 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
}
/**
- * Set the gyro type based on the sensitivity. This takes the number of
+ * Set the gyro sensitivity. This takes the number of
* volts/degree/second sensitivity of the gyro and uses it in subsequent
- * calculations to allow the code to work with multiple gyros.
+ * calculations to allow the code to work with multiple gyros. This value
+ * is typically found in the gyro datasheet.
*
* @param voltsPerDegreePerSecond
- * The type of gyro specified as the voltage that represents one
- * degree/second.
+ * The sensitivity in Volts/degree/second.
*/
public void setSensitivity(double voltsPerDegreePerSecond) {
m_voltsPerDegreePerSecond = voltsPerDegreePerSecond;
@@ -205,7 +205,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
}
/**
- * Set which parameter of the encoder you are using as a process control
+ * Set which parameter of the gyro you are using as a process control
* variable. The Gyro class supports the rate and angle parameters
*
* @param pidSource
@@ -217,9 +217,10 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
}
/**
- * Get the angle of the gyro for use with PIDControllers
+ * Get the output of the gyro for use with PIDControllers.
+ * May be the angle or rate depending on the set PIDSourceParameter
*
- * @return the current angle according to the gyro
+ * @return the output according to the gyro
*/
@Override
public double pidGet() {
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/I2C.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/I2C.java
index 516a06bf04..8b094b4526 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/I2C.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/I2C.java
@@ -44,6 +44,7 @@ public class I2C extends SensorBase {
/**
* Constructor.
*
+ * @param port The I2C port the device is connected to.
* @param deviceAddress
* The address of the device on the I2C bus.
*/
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Jaguar.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
index 315161acf6..3f6834c627 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
@@ -42,7 +42,7 @@ public class Jaguar extends SafePWM implements SpeedController {
/**
* Constructor.
*
- * @param channel The PWM channel that the Jaguar is attached to.
+ * @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on the MXP port
*/
public Jaguar(final int channel) {
super(channel);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Joystick.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Joystick.java
index a3a0e73442..07de15e725 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Joystick.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Joystick.java
@@ -305,12 +305,11 @@ public class Joystick extends GenericHID {
}
/**
- * Get the button value for buttons 1 through 12.
+ * Get the button value (starting at button 1)
*
- * The buttons are returned in a single 16 bit value with one bit representing the state
- * of each button. The appropriate button is returned as a boolean value.
+ * The appropriate button is returned as a boolean value.
*
- * @param button The button number to be read.
+ * @param button The button number to be read (starting at 1).
* @return The state of the button.
*/
public boolean getRawButton(final int button) {
@@ -327,6 +326,7 @@ public class Joystick extends GenericHID {
/**
* Get the state of a POV on the joystick.
*
+ * @param pov The index of the POV to read (starting at 0)
* @return the angle of the POV in degrees, or -1 if the POV is not pressed.
*/
public int getPOV(int pov) {
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/PWM.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/PWM.java
index 7f3e2fb737..aa5aa5e9bb 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/PWM.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/PWM.java
@@ -23,18 +23,19 @@ import edu.wpi.first.wpilibj.hal.HALUtil;
/**
* Class implements the PWM generation in the FPGA.
- * Values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped
- * to the hardware dependent values, in this case 0-255 for the FPGA.
+ *
+ * The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped
+ * to the hardware dependent values, in this case 0-2000 for the FPGA.
* Changes are immediately sent to the FPGA, and the update occurs at the next
* FPGA cycle. There is no delay.
*
- * As of revision 0.1.4 of the FPGA, the FPGA interprets the 0-255 values as follows:
- * 255 = full "forward"
- * 254 to 129 = linear scaling from "full forward" to "center"
- * 128 = center value
- * 127 to 2 = linear scaling from "center" to "full reverse"
- * 1 = full "reverse"
- * 0 = disabled (i.e. PWM output is held low)
+ * As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-255 values as follows:
+ * - 2000 = maximum pulse width
+ * - 1999 to 1001 = linear scaling from "full forward" to "center"
+ * - 1000 = center value
+ * - 999 to 2 = linear scaling from "center" to "full reverse"
+ * - 1 = minimum pulse width (currently .5ms)
+ * - 0 = disabled (i.e. PWM output is held low)
*/
public class PWM extends SensorBase implements LiveWindowSendable {
/**
@@ -108,6 +109,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
* for creating PWM instances. Checks channel value ranges and allocates
* the appropriate channel. The allocation is only done to help users
* ensure that they don't double assign channels.
+ * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
*/
private void initPWM(final int channel) {
checkPWMChannel(channel);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
index 4d24a4cae9..b546d59394 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/PowerDistributionPanel.java
@@ -23,6 +23,7 @@ public class PowerDistributionPanel extends SensorBase {
}
/**
+ * Query the input voltage of the PDP
* @return The voltage of the PDP
*/
public double getVoltage() {
@@ -35,6 +36,7 @@ public class PowerDistributionPanel extends SensorBase {
}
/**
+ * Query the temperature of the PDP
* @return The temperature of the PDP in degrees Celsius
*/
public double getTemperature() {
@@ -47,6 +49,7 @@ public class PowerDistributionPanel extends SensorBase {
}
/**
+ * Query the current of a single channel of the PDP
* @return The current of one of the PDP channels (channels 0-15) in Amperes
*/
public double getCurrent(int channel) {
@@ -61,7 +64,8 @@ public class PowerDistributionPanel extends SensorBase {
}
/**
- * @return The current of all the channels
+ * Query the current of all monitored PDP channels (0-15)
+ * @return The current of all the channels
*/
public double getTotalCurrent(){
ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -73,7 +77,8 @@ public class PowerDistributionPanel extends SensorBase {
}
/**
- * @return the total power
+ * Query the total power drawn from the monitored PDP channels
+ * @return the total power
*/
public double getTotalPower(){
ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -85,6 +90,10 @@ public class PowerDistributionPanel extends SensorBase {
}
+ /**
+ * Query the total energy drawn from the monitored PDP channels
+ * @return the total power
+ */
public double getTotalEnergy(){
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -94,6 +103,9 @@ public class PowerDistributionPanel extends SensorBase {
return energy;
}
+ /**
+ * Reset the total energy to 0
+ */
public void resetTotalEnergy(){
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -101,6 +113,9 @@ public class PowerDistributionPanel extends SensorBase {
PDPJNI.resetPDPTotalEnergy(status.asIntBuffer());
}
+ /**
+ * Clear all PDP sticky faults
+ */
public void clearStickyFaults(){
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index d315d35906..9bee8ee596 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -134,6 +134,9 @@ public abstract class RobotBase {
* This hook is called right before startCompetition(). By default, tell the
* DS that the robot is now ready to be enabled. If you don't want for the
* robot to be enabled yet, you can override this method to do nothing.
+ * If you do so, you will need to call
+ * FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationOvserveUserProgramStarting() from
+ * your code when you are ready for the robot to be enabled.
*/
protected void prestart() {
FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SPI.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SPI.java
index 51116d981c..8d2ad63c8a 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SPI.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SPI.java
@@ -70,7 +70,8 @@ public class SPI extends SensorBase {
/**
* Configure the rate of the generated clock signal.
- * The default and maximum value is 500,000 Hz.
+ * The default value is 500,000 Hz.
+ * The maximum value is 4,000,000 Hz.
*
* @param hz The clock rate in Hertz.
*/
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SafePWM.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SafePWM.java
index be0bebc050..1abd9ea407 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SafePWM.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SafePWM.java
@@ -27,7 +27,7 @@ public class SafePWM extends PWM implements MotorSafety {
/**
* Constructor for a SafePWM object taking a channel number
- * @param channel The channel number to be used for the underlying PWM object
+ * @param channel The channel number to be used for the underlying PWM object. 0-9 are on-board, 10-19 are on the MXP port.
*/
public SafePWM(final int channel) {
super(channel);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SerialPort.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
index 2c5149d1e4..8ed129d3ac 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
@@ -184,6 +184,7 @@ public class SerialPort {
* Create an instance of a Serial Port class.
*
* @param baudRate The baud rate to configure the serial port.
+ * @param port The Serial port to use
* @param dataBits The number of data bits per transfer. Valid values are between 5 and 8 bits.
* @param parity Select the type of parity checking to use.
* @param stopBits The number of stop bits to use as defined by the enum StopBits.
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Servo.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Servo.java
index 3d5b402877..584e2d6b5b 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Servo.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Servo.java
@@ -48,7 +48,7 @@ public class Servo extends PWM {
* By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value
* By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value
*
- * @param channel The PWM channel to which the servo is attached.
+ * @param channel The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on the MXP port
*/
public Servo(final int channel) {
super(channel);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Solenoid.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
index 4f19cd330a..4d75e70909 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
@@ -51,9 +51,9 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
}
/**
- * Constructor.
+ * Constructor using the default PCM ID (0)
*
- * @param channel The channel on the module to control.
+ * @param channel The channel on the PCM to control.
*/
public Solenoid(final int channel) {
super(getDefaultSolenoidModule());
@@ -64,8 +64,8 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
/**
* Constructor.
*
- * @param moduleNumber The module number of the solenoid module to use.
- * @param channel The channel on the module to control.
+ * @param moduleNumber The CAN ID of the PCM the solenoid is attached to.
+ * @param channel The channel on the PCM to control (0..7).
*/
public Solenoid(final int moduleNumber, final int channel) {
super(moduleNumber);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java
index be499c3610..d8bf7991a5 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java
@@ -26,7 +26,7 @@ public abstract class SolenoidBase extends SensorBase {
/**
* Constructor.
*
- * @param moduleNumber The number of the solenoid module to use.
+ * @param moduleNumber The PCM CAN ID
*/
public SolenoidBase(final int moduleNumber) {
m_moduleNumber = moduleNumber;
@@ -74,7 +74,7 @@ public abstract class SolenoidBase extends SensorBase {
*
* If a solenoid is shorted, it is added to the blacklist and
* disabled until power cycle, or until faults are cleared.
- * @see clearAllPCMStickyFaults()
+ * @see #clearAllPCMStickyFaults()
*
* @return The solenoid blacklist of all 8 solenoids on the module.
*/
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Talon.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Talon.java
index 0afa9c698f..cf54c0b107 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Talon.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Talon.java
@@ -41,9 +41,9 @@ public class Talon extends SafePWM implements SpeedController {
}
/**
- * Constructor.
+ * Constructor for a Talon (original or Talon SR)
*
- * @param channel The PWM channel that the Talon is attached to.
+ * @param channel The PWM channel that the Talon is attached to. 0-9 are on-board, 10-19 are on the MXP port
*/
public Talon(final int channel) {
super(channel);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/TalonSRX.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/TalonSRX.java
index 4ad134da8d..75d96507e4 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/TalonSRX.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/TalonSRX.java
@@ -25,11 +25,11 @@ public class TalonSRX extends SafePWM implements SpeedController {
* the deadband or inability to saturate the controller in either direction, calibration is recommended.
* The calibration procedure can be found in the TalonSRX User Manual available from CTRE.
*
- * - 2.037ms = full "forward"
- * - 1.539ms = the "high end" of the deadband range
- * - 1.513ms = center of the deadband range (off)
- * - 1.487ms = the "low end" of the deadband range
- * - .989ms = full "reverse"
+ * - 2.0004ms = full "forward"
+ * - 1.52ms = the "high end" of the deadband range
+ * - 1.50ms = center of the deadband range (off)
+ * - 1.48ms = the "low end" of the deadband range
+ * - .997ms = full "reverse"
*/
protected void initTalonSRX() {
setBounds(2.004, 1.52, 1.50, 1.48, .997);
@@ -42,9 +42,9 @@ public class TalonSRX extends SafePWM implements SpeedController {
}
/**
- * Constructor.
+ * Constructor for a TalonSRX connected via PWM
*
- * @param channel The PWM channel that the Talon is attached to.
+ * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are on-board, 10-19 are on the MXP port
*/
public TalonSRX(final int channel) {
super(channel);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Victor.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Victor.java
index 4745f2b846..5e7c78f0ef 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Victor.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Victor.java
@@ -24,7 +24,7 @@ public class Victor extends SafePWM implements SpeedController {
*
* Note that the Victor uses the following bounds for PWM values. These values were determined
* empirically and optimized for the Victor 888. These values should work reasonably well for
- * Victor 884 controllers also but if users experience issues such as asymmetric behavior around
+ * Victor 884 controllers also but if users experience issues such as asymmetric behaviour around
* the deadband or inability to saturate the controller in either direction, calibration is recommended.
* The calibration procedure can be found in the Victor 884 User Manual available from VEX Robotics:
* http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf
@@ -48,7 +48,7 @@ public class Victor extends SafePWM implements SpeedController {
/**
* Constructor.
*
- * @param channel The PWM channel that the Victor is attached to.
+ * @param channel The PWM channel that the Victor is attached to. 0-9 are on-board, 10-19 are on the MXP port
*/
public Victor(final int channel) {
super(channel);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/VictorSP.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
index a1a70643a2..3fabd29624 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
@@ -24,11 +24,11 @@ public class VictorSP extends SafePWM implements SpeedController {
* the deadband or inability to saturate the controller in either direction, calibration is recommended.
* The calibration procedure can be found in the VictorSP User Manual available from CTRE.
*
- * - 2.037ms = full "forward"
- * - 1.539ms = the "high end" of the deadband range
- * - 1.513ms = center of the deadband range (off)
- * - 1.487ms = the "low end" of the deadband range
- * - .989ms = full "reverse"
+ * - 2.004ms = full "forward"
+ * - 1.52ms = the "high end" of the deadband range
+ * - 1.50ms = center of the deadband range (off)
+ * - 1.48ms = the "low end" of the deadband range
+ * - .997ms = full "reverse"
*/
protected void initVictorSP() {
setBounds(2.004, 1.52, 1.50, 1.48, .997);
@@ -43,7 +43,7 @@ public class VictorSP extends SafePWM implements SpeedController {
/**
* Constructor.
*
- * @param channel The PWM channel that the VictorSP is attached to.
+ * @param channel The PWM channel that the VictorSP is attached to. 0-9 are on-board, 10-19 are on the MXP port
*/
public VictorSP(final int channel) {
super(channel);