[docs] Add missing JavaDocs (#6146)

wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java

@@ -40,7 +40,10 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   /** Represents the angular velocity of the robot frame. (CCW is +) */
   public double omegaRadiansPerSecond;
 
+  /** ChassisSpeeds protobuf for serialization. */
   public static final ChassisSpeedsProto proto = new ChassisSpeedsProto();
+
+  /** ChassisSpeeds struct for serialization. */
   public static final ChassisSpeedsStruct struct = new ChassisSpeedsStruct();
 
   /** Constructs a ChassisSpeeds with zeros for dx, dy, and theta. */

wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java

@@ -28,10 +28,14 @@ public class DifferentialDriveKinematics
     implements Kinematics<DifferentialDriveWheelSpeeds, DifferentialDriveWheelPositions>,
         ProtobufSerializable,
         StructSerializable {
+  /** Differential drive trackwidth. */
   public final double trackWidthMeters;
 
+  /** DifferentialDriveKinematics protobuf for serialization. */
   public static final DifferentialDriveKinematicsProto proto =
       new DifferentialDriveKinematicsProto();
+
+  /** DifferentialDriveKinematics struct for serialization. */
   public static final DifferentialDriveKinematicsStruct struct =
       new DifferentialDriveKinematicsStruct();
 

wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java

@@ -11,6 +11,7 @@ import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
 import java.util.Objects;
 
+/** Represents the wheel positions for a differential drive drivetrain. */
 public class DifferentialDriveWheelPositions
     implements WheelPositions<DifferentialDriveWheelPositions> {
   /** Distance measured by the left side. */

wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java

@@ -22,8 +22,11 @@ public class DifferentialDriveWheelSpeeds implements ProtobufSerializable, Struc
   /** Speed of the right side of the robot. */
   public double rightMetersPerSecond;
 
+  /** DifferentialDriveWheelSpeeds protobuf for serialization. */
   public static final DifferentialDriveWheelSpeedsProto proto =
       new DifferentialDriveWheelSpeedsProto();
+
+  /** DifferentialDriveWheelSpeeds struct for serialization. */
   public static final DifferentialDriveWheelSpeedsStruct struct =
       new DifferentialDriveWheelSpeedsStruct();
 

wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java

@@ -48,7 +48,10 @@ public class MecanumDriveKinematics
 
   private Translation2d m_prevCoR = new Translation2d();
 
+  /** MecanumDriveKinematics protobuf for serialization. */
   public static final MecanumDriveKinematicsProto proto = new MecanumDriveKinematicsProto();
+
+  /** MecanumDriveKinematics struct for serialization. */
   public static final MecanumDriveKinematicsStruct struct = new MecanumDriveKinematicsStruct();
 
   /**
@@ -217,18 +220,38 @@ public class MecanumDriveKinematics
     m_inverseKinematics.setRow(3, 0, 1, -1, -(rr.getX() + rr.getY()));
   }
 
+  /**
+   * Returns the front-left wheel translation.
+   *
+   * @return The front-left wheel translation.
+   */
   public Translation2d getFrontLeft() {
     return m_frontLeftWheelMeters;
   }
 
+  /**
+   * Returns the front-right wheel translation.
+   *
+   * @return The front-right wheel translation.
+   */
   public Translation2d getFrontRight() {
     return m_frontRightWheelMeters;
   }
 
+  /**
+   * Returns the rear-left wheel translation.
+   *
+   * @return The rear-left wheel translation.
+   */
   public Translation2d getRearLeft() {
     return m_rearLeftWheelMeters;
   }
 
+  /**
+   * Returns the rear-right wheel translation.
+   *
+   * @return The rear-right wheel translation.
+   */
   public Translation2d getRearRight() {
     return m_rearRightWheelMeters;
   }

wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java

@@ -15,6 +15,7 @@ import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
+/** Represents the wheel positions for a mecanum drive drivetrain. */
 public class MecanumDriveWheelPositions
     implements WheelPositions<MecanumDriveWheelPositions>,
         ProtobufSerializable,
@@ -31,9 +32,12 @@ public class MecanumDriveWheelPositions
   /** Distance measured by the rear right wheel. */
   public double rearRightMeters;
 
+  /** MecanumDriveWheelPositions protobuf for serialization. */
+  public static final MecanumDriveWheelPositionsProto proto = new MecanumDriveWheelPositionsProto();
+
+  /** MecanumDriveWheelPositions struct for serialization. */
   public static final MecanumDriveWheelPositionsStruct struct =
       new MecanumDriveWheelPositionsStruct();
-  public static final MecanumDriveWheelPositionsProto proto = new MecanumDriveWheelPositionsProto();
 
   /** Constructs a MecanumDriveWheelPositions with zeros for all member fields. */
   public MecanumDriveWheelPositions() {}

wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java

@@ -14,6 +14,7 @@ import edu.wpi.first.units.Velocity;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
+/** Represents the wheel speeds for a mecanum drive drivetrain. */
 public class MecanumDriveWheelSpeeds implements ProtobufSerializable, StructSerializable {
   /** Speed of the front left wheel. */
   public double frontLeftMetersPerSecond;
@@ -27,9 +28,12 @@ public class MecanumDriveWheelSpeeds implements ProtobufSerializable, StructSeri
   /** Speed of the rear right wheel. */
   public double rearRightMetersPerSecond;
 
-  public static final MecanumDriveWheelSpeedsStruct struct = new MecanumDriveWheelSpeedsStruct();
+  /** MecanumDriveWheelSpeeds protobuf for serialization. */
   public static final MecanumDriveWheelSpeedsProto proto = new MecanumDriveWheelSpeedsProto();
 
+  /** MecanumDriveWheelSpeeds struct for serialization. */
+  public static final MecanumDriveWheelSpeedsStruct struct = new MecanumDriveWheelSpeedsStruct();
+
   /** Constructs a MecanumDriveWheelSpeeds with zeros for all member fields. */
   public MecanumDriveWheelSpeeds() {}
 

wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java

@@ -41,7 +41,9 @@ import org.ejml.simple.SimpleMatrix;
  */
 public class SwerveDriveKinematics
     implements Kinematics<SwerveDriveKinematics.SwerveDriveWheelStates, SwerveDriveWheelPositions> {
+  /** Wrapper class for swerve module states. */
   public static class SwerveDriveWheelStates {
+    /** Swerve module states. */
     public SwerveModuleState[] states;
 
     /**

wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveWheelPositions.java

@@ -7,7 +7,9 @@ package edu.wpi.first.math.kinematics;
 import java.util.Arrays;
 import java.util.Objects;
 
+/** Represents the wheel positions for a swerve drive drivetrain. */
 public class SwerveDriveWheelPositions implements WheelPositions<SwerveDriveWheelPositions> {
+  /** The distances driven by the wheels. */
   public SwerveModulePosition[] positions;
 
   /**

wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java

@@ -29,9 +29,12 @@ public class SwerveModulePosition
   /** Angle of the module. */
   public Rotation2d angle = Rotation2d.fromDegrees(0);
 
-  public static final SwerveModulePositionStruct struct = new SwerveModulePositionStruct();
+  /** SwerveModulePosition protobuf for serialization. */
   public static final SwerveModulePositionProto proto = new SwerveModulePositionProto();
 
+  /** SwerveModulePosition struct for serialization. */
+  public static final SwerveModulePositionStruct struct = new SwerveModulePositionStruct();
+
   /** Constructs a SwerveModulePosition with zeros for distance and angle. */
   public SwerveModulePosition() {}
 

wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java

@@ -25,9 +25,12 @@ public class SwerveModuleState
   /** Angle of the module. */
   public Rotation2d angle = Rotation2d.fromDegrees(0);
 
-  public static final SwerveModuleStateStruct struct = new SwerveModuleStateStruct();
+  /** SwerveModuleState protobuf for serialization. */
   public static final SwerveModuleStateProto proto = new SwerveModuleStateProto();
 
+  /** SwerveModuleState struct for serialization. */
+  public static final SwerveModuleStateStruct struct = new SwerveModuleStateStruct();
+
   /** Constructs a SwerveModuleState with zeros for speed and angle. */
   public SwerveModuleState() {}
 

wpimath/src/main/java/edu/wpi/first/math/kinematics/WheelPositions.java

@@ -6,6 +6,11 @@ package edu.wpi.first.math.kinematics;
 
 import edu.wpi.first.math.interpolation.Interpolatable;
 
+/**
+ * Interface for wheel positions.
+ *
+ * @param <T> Wheel positions type.
+ */
 public interface WheelPositions<T extends WheelPositions<T>> extends Interpolatable<T> {
   /**
    * Returns a copy of this instance.