[docs] Add missing JavaDocs (#6146)

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

@@ -57,8 +57,21 @@ public class AprilTagDetector implements AutoCloseable {
      */
     public boolean debug;
 
+    /** Default constructor. */
     public Config() {}
 
+    /**
+     * Constructs a detector configuration.
+     *
+     * @param numThreads How many threads should be used for computation.
+     * @param quadDecimate Quad decimation.
+     * @param quadSigma What Gaussian blur should be applied to the segmented image (used for quad
+     *     detection).
+     * @param refineEdges When true, the edges of the each quad are adjusted to "snap to" strong
+     *     gradients nearby.
+     * @param decodeSharpening How much sharpening should be done to decoded images.
+     * @param debug Debug mode.
+     */
     Config(
         int numThreads,
         float quadDecimate,
@@ -139,8 +152,21 @@ public class AprilTagDetector implements AutoCloseable {
      */
     public boolean deglitch;
 
+    /** Default constructor. */
     public QuadThresholdParameters() {}
 
+    /**
+     * Constructs quad threshold parameters.
+     *
+     * @param minClusterPixels Threshold used to reject quads containing too few pixels.
+     * @param maxNumMaxima How many corner candidates to consider when segmenting a group of pixels
+     *     into a quad.
+     * @param criticalAngle Critical angle, in radians.
+     * @param maxLineFitMSE When fitting lines to the contours, the maximum mean squared error
+     *     allowed.
+     * @param minWhiteBlackDiff Minimum brightness offset.
+     * @param deglitch Whether the thresholded image be should be deglitched.
+     */
     QuadThresholdParameters(
         int minClusterPixels,
         int maxNumMaxima,

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

@@ -44,8 +44,11 @@ import java.util.Optional;
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class AprilTagFieldLayout {
+  /** Common origin positions for the AprilTag coordinate system. */
   public enum OriginPosition {
+    /** Blue alliance wall, right side. */
     kBlueAllianceWallRightSide,
+    /** Red alliance wall, right side. */
     kRedAllianceWallRightSide,
   }
 

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

@@ -7,15 +7,20 @@ package edu.wpi.first.apriltag;
 import java.io.IOException;
 import java.io.UncheckedIOException;
 
+/** Loadable AprilTag field layouts. */
 public enum AprilTagFields {
+  /** 2022 Rapid React. */
   k2022RapidReact("2022-rapidreact.json"),
+  /** 2023 Charged Up. */
   k2023ChargedUp("2023-chargedup.json");
 
+  /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
   public static final AprilTagFields kDefaultField = k2023ChargedUp;
 
+  /** Resource filename. */
   public final String m_resourceFile;
 
   AprilTagFields(String resourceFile) {

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

@@ -29,10 +29,19 @@ public class AprilTagPoseEstimator {
       this.cy = cy;
     }
 
+    /** Tag size, in meters. */
     public double tagSize;
+
+    /** Camera horizontal focal length, in pixels. */
     public double fx;
+
+    /** Camera vertical focal length, in pixels. */
     public double fy;
+
+    /** Camera horizontal focal center, in pixels. */
     public double cx;
+
+    /** Camera vertical focal center, in pixels. */
     public double cy;
 
     @Override

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

@@ -38,8 +38,13 @@ namespace frc {
  * towards the opposing alliance). */
 class WPILIB_DLLEXPORT AprilTagFieldLayout {
  public:
+  /**
+   * Common origin positions for the AprilTag coordinate system.
+   */
   enum class OriginPosition {
+    /// Blue alliance wall, right side.
     kBlueAllianceWallRightSide,
+    /// Red alliance wall, right side.
     kRedAllianceWallRightSide,
   };
 

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

@@ -12,8 +12,13 @@
 
 namespace frc {
 
+/**
+ * Loadable AprilTag field layouts.
+ */
 enum class AprilTagField {
+  /// 2022 Rapid React.
   k2022RapidReact,
+  /// 2023 Charged Up.
   k2023ChargedUp,
 
   // This is a placeholder for denoting the last supported field. This should

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java

@@ -39,6 +39,7 @@ import java.util.concurrent.atomic.AtomicInteger;
  * NetworkTables.
  */
 public final class CameraServer {
+  /** CameraServer base port. */
   public static final int kBasePort = 1181;
 
   private static final String kPublishName = "/CameraPublisher";

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cameraserver;
 
+/** CameraServer shared functions. */
 public interface CameraServerShared {
   /**
    * get the main thread id func.

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cameraserver;
 
+/** Storage for CameraServerShared instance. */
 public final class CameraServerSharedStore {
   private static CameraServerShared cameraServerShared;
 

cameraserver/src/main/native/include/cameraserver/CameraServer.h

@@ -22,10 +22,8 @@ namespace frc {
  */
 class CameraServer {
  public:
+  /// CameraServer base port.
   static constexpr uint16_t kBasePort = 1181;
-  static constexpr int kSize640x480 = 0;
-  static constexpr int kSize320x240 = 1;
-  static constexpr int kSize160x120 = 2;
 
   /**
    * Start automatically capturing images to send to the dashboard.

datalogtool/src/main/generate/WPILibVersion.cpp.in

@@ -1,4 +1,4 @@
-/*
+/**
  * Autogenerated file! Do not manually edit this file. This version is regenerated
  * any time the publish task is run, or when this file is deleted.
  */

glass/src/app/generate/WPILibVersion.cpp.in

@@ -1,4 +1,4 @@
-/*
+/**
  * Autogenerated file! Do not manually edit this file. This version is regenerated
  * any time the publish task is run, or when this file is deleted.
  */

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

@@ -4,6 +4,14 @@
 
 package edu.wpi.first.hal.simulation;
 
+/** Interface for simulation buffer callbacks. */
 public interface BufferCallback {
+  /**
+   * Simulation buffer callback function.
+   *
+   * @param name Buffer name.
+   * @param buffer Buffer.
+   * @param count Buffer size.
+   */
   void callback(String name, byte[] buffer, int count);
 }

outlineviewer/src/main/generate/WPILibVersion.cpp.in

@@ -1,4 +1,4 @@
-/*
+/**
  * Autogenerated file! Do not manually edit this file. This version is regenerated
  * any time the publish task is run, or when this file is deleted.
  */

roborioteamnumbersetter/src/main/generate/WPILibVersion.cpp.in

@@ -1,4 +1,4 @@
-/*
+/**
  * Autogenerated file! Do not manually edit this file. This version is regenerated
  * any time the publish task is run, or when this file is deleted.
  */

sysid/src/main/generate/WPILibVersion.cpp.in

@@ -1,4 +1,4 @@
-/*
+/**
  * Autogenerated file! Do not manually edit this file. This version is regenerated
  * any time the publish task is run, or when this file is deleted.
  */

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

@@ -25,8 +25,10 @@ import java.util.function.BooleanSupplier;
  * <p>This class is provided by the NewCommands VendorDep
  */
 public abstract class Command implements Sendable {
+  /** Requirements set. */
   protected Set<Subsystem> m_requirements = new HashSet<>();
 
+  /** Default constructor. */
   @SuppressWarnings("this-escape")
   protected Command() {
     String name = getClass().getName();

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

@@ -16,4 +16,9 @@ import edu.wpi.first.util.sendable.Sendable;
  */
 @Deprecated(since = "2024", forRemoval = true)
 @SuppressWarnings("PMD.AbstractClassWithoutAnyMethod")
-public abstract class CommandBase extends Command {}
+public abstract class CommandBase extends Command {
+  /** Default constructor. */
+  public CommandBase() {
+    super();
+  }
+}

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

@@ -19,9 +19,16 @@ import java.util.function.DoubleSupplier;
  * <p>This class is provided by the NewCommands VendorDep
  */
 public class PIDCommand extends Command {
+  /** PID controller. */
   protected final PIDController m_controller;
+
+  /** Measurement getter. */
   protected DoubleSupplier m_measurement;
+
+  /** Setpoint getter. */
   protected DoubleSupplier m_setpoint;
+
+  /** PID controller output consumer. */
   protected DoubleConsumer m_useOutput;
 
   /**

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

@@ -15,7 +15,10 @@ import edu.wpi.first.math.controller.PIDController;
  * <p>This class is provided by the NewCommands VendorDep
  */
 public abstract class PIDSubsystem extends SubsystemBase {
+  /** PID controller. */
   protected final PIDController m_controller;
+
+  /** Whether PID controller output is enabled. */
   protected boolean m_enabled;
 
   /**
@@ -47,6 +50,11 @@ public abstract class PIDSubsystem extends SubsystemBase {
     }
   }
 
+  /**
+   * Returns the PIDController.
+   *
+   * @return The controller.
+   */
   public PIDController getController() {
     return m_controller;
   }

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

@@ -21,9 +21,16 @@ import java.util.function.Supplier;
  * <p>This class is provided by the NewCommands VendorDep
  */
 public class ProfiledPIDCommand extends Command {
+  /** Profiled PID controller. */
   protected final ProfiledPIDController m_controller;
+
+  /** Measurement getter. */
   protected DoubleSupplier m_measurement;
+
+  /** Goal getter. */
   protected Supplier<State> m_goal;
+
+  /** Profiled PID controller output consumer. */
   protected BiConsumer<Double, State> m_useOutput;
 
   /**

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

@@ -17,7 +17,10 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
  * <p>This class is provided by the NewCommands VendorDep
  */
 public abstract class ProfiledPIDSubsystem extends SubsystemBase {
+  /** Profiled PID controller. */
   protected final ProfiledPIDController m_controller;
+
+  /** Whether the profiled PID controller output is enabled. */
   protected boolean m_enabled;
 
   /**
@@ -47,6 +50,11 @@ public abstract class ProfiledPIDSubsystem extends SubsystemBase {
     }
   }
 
+  /**
+   * Returns the ProfiledPIDController.
+   *
+   * @return The controller.
+   */
   public ProfiledPIDController getController() {
     return m_controller;
   }

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

@@ -14,7 +14,9 @@ import edu.wpi.first.wpilibj.Timer;
  * <p>This class is provided by the NewCommands VendorDep
  */
 public class WaitCommand extends Command {
+  /** The timer used for waiting. */
   protected Timer m_timer = new Timer();
+
   private final double m_duration;
 
   /**

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java

@@ -42,10 +42,20 @@ public class InternalButton extends Trigger {
     this.m_inverted = inverted;
   }
 
+  /**
+   * Sets whether to invert button state.
+   *
+   * @param inverted Whether button state should be inverted.
+   */
   public void setInverted(boolean inverted) {
     m_inverted.set(inverted);
   }
 
+  /**
+   * Sets whether button is pressed.
+   *
+   * @param pressed Whether button is pressed.
+   */
   public void setPressed(boolean pressed) {
     m_pressed.set(pressed);
   }

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

@@ -426,6 +426,7 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
  protected:
   Command();
 
+  /// Requirements set.
   wpi::SmallSet<Subsystem*, 4> m_requirements;
 
   /**

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

@@ -74,9 +74,16 @@ class PIDCommand : public CommandHelper<Command, PIDCommand> {
   frc::PIDController& GetController();
 
  protected:
+  /// PID controller.
   frc::PIDController m_controller;
+
+  /// Measurement getter.
   std::function<double()> m_measurement;
+
+  /// Setpoint getter.
   std::function<double()> m_setpoint;
+
+  /// PID controller output consumer.
   std::function<void(double)> m_useOutput;
 };
 }  // namespace frc2

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

@@ -69,7 +69,10 @@ class PIDSubsystem : public SubsystemBase {
   frc::PIDController& GetController();
 
  protected:
+  /// PID controller.
   frc::PIDController m_controller;
+
+  /// Whether PID controller output is enabled.
   bool m_enabled{false};
 
   /**

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

@@ -139,9 +139,16 @@ class ProfiledPIDCommand
   frc::ProfiledPIDController<Distance>& GetController() { return m_controller; }
 
  protected:
+  /// Profiled PID controller.
   frc::ProfiledPIDController<Distance> m_controller;
+
+  /// Measurement getter.
   std::function<Distance_t()> m_measurement;
+
+  /// Goal getter.
   std::function<State()> m_goal;
+
+  /// Profiled PID controller output consumer.
   std::function<void(double, State)> m_useOutput;
 };
 }  // namespace frc2

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

@@ -91,7 +91,10 @@ class ProfiledPIDSubsystem : public SubsystemBase {
   frc::ProfiledPIDController<Distance>& GetController() { return m_controller; }
 
  protected:
+  /// Profiled PID controller.
   frc::ProfiledPIDController<Distance> m_controller;
+
+  /// Whether the profiled PID controller output is enabled.
   bool m_enabled{false};
 
   /**

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

@@ -41,6 +41,7 @@ class WaitCommand : public CommandHelper<Command, WaitCommand> {
   void InitSendable(wpi::SendableBuilder& builder) override;
 
  protected:
+  /// The timer used for waiting.
   frc::Timer m_timer;
 
  private:

wpilibc/src/generate/WPILibVersion.cpp.in

@@ -1,4 +1,4 @@
-/*
+/**
  * Autogenerated file! Do not manually edit this file. This version is regenerated
  * any time the publish task is run, or when this file is deleted.
  */

wpilibc/src/main/native/include/frc/util/Color.h

@@ -864,8 +864,13 @@ class Color {
          wpi::hexdigit(b % 16)}};
   }
 
+  /// Red component (0-1).
   double red = 0.0;
+
+  /// Green component (0-1).
   double green = 0.0;
+
+  /// Blue component (0-1).
   double blue = 0.0;
 
  private:

wpilibc/src/main/native/include/frc/util/Color8Bit.h

@@ -115,8 +115,13 @@ class Color8Bit {
          wpi::hexdigit(blue / 16), wpi::hexdigit(blue % 16)}};
   }
 
+  /// Red component (0-255).
   int red = 0;
+
+  /// Green component (0-255).
   int green = 0;
+
+  /// Blue component (0-255).
   int blue = 0;
 };
 

wpilibj/src/generate/WPILibVersion.java.in

@@ -1,10 +1,13 @@
 package edu.wpi.first.wpilibj.util;
 
-/*
+/**
  * Autogenerated file! Do not manually edit this file. This version is regenerated
  * any time the publish task is run, or when this file is deleted.
  */
-
 public final class WPILibVersion {
+  /** The version number. */
   public static final String Version = "${wpilib_version}";
+
+  /** Utility class. */
+  private WPILibVersion() {}
 }

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

@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj.simulation;
 
 import edu.wpi.first.hal.simulation.SimulatorJNI;
 
+/** Simulation hooks. */
 public final class SimHooks {
   private SimHooks() {}
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java

@@ -14,9 +14,15 @@ import java.util.Objects;
  */
 @SuppressWarnings("MemberName")
 public class Color {
+  /** Red component (0-1). */
   public final double red;
+
+  /** Green component (0-1). */
   public final double green;
+
+  /** Blue component (0-1). */
   public final double blue;
+
   private String m_name;
 
   /** Constructs a default color (black). */

wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java

@@ -10,8 +10,13 @@ import java.util.Objects;
 /** Represents colors with 8 bits of precision. */
 @SuppressWarnings("MemberName")
 public class Color8Bit {
+  /** Red component (0-255). */
   public final int red;
+
+  /** Green component (0-255). */
   public final int green;
+
+  /** Blue component (0-255). */
   public final int blue;
 
   /** Constructs a default color (black). */

wpimath/src/generate/main/java/Nat.java.jinja

@@ -26,6 +26,11 @@ public interface Nat<T extends Num> {
    */
   int getNum();
 {% for num in nums %}
+  /**
+   * Returns the Nat instance for {{ num }}.
+   *
+   * @return The Nat instance for {{ num }}.
+   */
   static Nat<N{{ num }}> N{{ num }}() {
     return N{{ num }}.instance;
   }

wpimath/src/generated/main/java/edu/wpi/first/math/Nat.java

@@ -45,86 +45,191 @@ public interface Nat<T extends Num> {
    */
   int getNum();
 
+  /**
+   * Returns the Nat instance for 0.
+   *
+   * @return The Nat instance for 0.
+   */
   static Nat<N0> N0() {
     return N0.instance;
   }
 
+  /**
+   * Returns the Nat instance for 1.
+   *
+   * @return The Nat instance for 1.
+   */
   static Nat<N1> N1() {
     return N1.instance;
   }
 
+  /**
+   * Returns the Nat instance for 2.
+   *
+   * @return The Nat instance for 2.
+   */
   static Nat<N2> N2() {
     return N2.instance;
   }
 
+  /**
+   * Returns the Nat instance for 3.
+   *
+   * @return The Nat instance for 3.
+   */
   static Nat<N3> N3() {
     return N3.instance;
   }
 
+  /**
+   * Returns the Nat instance for 4.
+   *
+   * @return The Nat instance for 4.
+   */
   static Nat<N4> N4() {
     return N4.instance;
   }
 
+  /**
+   * Returns the Nat instance for 5.
+   *
+   * @return The Nat instance for 5.
+   */
   static Nat<N5> N5() {
     return N5.instance;
   }
 
+  /**
+   * Returns the Nat instance for 6.
+   *
+   * @return The Nat instance for 6.
+   */
   static Nat<N6> N6() {
     return N6.instance;
   }
 
+  /**
+   * Returns the Nat instance for 7.
+   *
+   * @return The Nat instance for 7.
+   */
   static Nat<N7> N7() {
     return N7.instance;
   }
 
+  /**
+   * Returns the Nat instance for 8.
+   *
+   * @return The Nat instance for 8.
+   */
   static Nat<N8> N8() {
     return N8.instance;
   }
 
+  /**
+   * Returns the Nat instance for 9.
+   *
+   * @return The Nat instance for 9.
+   */
   static Nat<N9> N9() {
     return N9.instance;
   }
 
+  /**
+   * Returns the Nat instance for 10.
+   *
+   * @return The Nat instance for 10.
+   */
   static Nat<N10> N10() {
     return N10.instance;
   }
 
+  /**
+   * Returns the Nat instance for 11.
+   *
+   * @return The Nat instance for 11.
+   */
   static Nat<N11> N11() {
     return N11.instance;
   }
 
+  /**
+   * Returns the Nat instance for 12.
+   *
+   * @return The Nat instance for 12.
+   */
   static Nat<N12> N12() {
     return N12.instance;
   }
 
+  /**
+   * Returns the Nat instance for 13.
+   *
+   * @return The Nat instance for 13.
+   */
   static Nat<N13> N13() {
     return N13.instance;
   }
 
+  /**
+   * Returns the Nat instance for 14.
+   *
+   * @return The Nat instance for 14.
+   */
   static Nat<N14> N14() {
     return N14.instance;
   }
 
+  /**
+   * Returns the Nat instance for 15.
+   *
+   * @return The Nat instance for 15.
+   */
   static Nat<N15> N15() {
     return N15.instance;
   }
 
+  /**
+   * Returns the Nat instance for 16.
+   *
+   * @return The Nat instance for 16.
+   */
   static Nat<N16> N16() {
     return N16.instance;
   }
 
+  /**
+   * Returns the Nat instance for 17.
+   *
+   * @return The Nat instance for 17.
+   */
   static Nat<N17> N17() {
     return N17.instance;
   }
 
+  /**
+   * Returns the Nat instance for 18.
+   *
+   * @return The Nat instance for 18.
+   */
   static Nat<N18> N18() {
     return N18.instance;
   }
 
+  /**
+   * Returns the Nat instance for 19.
+   *
+   * @return The Nat instance for 19.
+   */
   static Nat<N19> N19() {
     return N19.instance;
   }
 
+  /**
+   * Returns the Nat instance for 20.
+   *
+   * @return The Nat instance for 20.
+   */
   static Nat<N20> N20() {
     return N20.instance;
   }

wpimath/src/main/java/edu/wpi/first/math/ComputerVisionUtil.java

@@ -7,6 +7,7 @@ package edu.wpi.first.math;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Transform3d;
 
+/** Computer vision utility functions. */
 public final class ComputerVisionUtil {
   private ComputerVisionUtil() {
     throw new AssertionError("utility class");

wpimath/src/main/java/edu/wpi/first/math/DARE.java

@@ -6,6 +6,7 @@ package edu.wpi.first.math;
 
 import org.ejml.simple.SimpleMatrix;
 
+/** DARE solver utility functions. */
 public final class DARE {
   private DARE() {
     throw new UnsupportedOperationException("This is a utility class!");

wpimath/src/main/java/edu/wpi/first/math/InterpolatingMatrixTreeMap.java

@@ -17,6 +17,9 @@ import java.util.TreeMap;
 public class InterpolatingMatrixTreeMap<K extends Number, R extends Num, C extends Num> {
   private final TreeMap<K, Matrix<R, C>> m_map = new TreeMap<>();
 
+  /** Default constructor. */
+  public InterpolatingMatrixTreeMap() {}
+
   /**
    * Inserts a key-value pair.
    *

wpimath/src/main/java/edu/wpi/first/math/MatBuilder.java

@@ -40,7 +40,10 @@ public class MatBuilder<R extends Num, C extends Num> {
     return new Matrix<>(new SimpleMatrix(rows.getNum(), cols.getNum(), true, data));
   }
 
+  /** Number of rows. */
   protected final Nat<R> m_rows;
+
+  /** Number of columns. */
   protected final Nat<C> m_cols;
 
   /**

wpimath/src/main/java/edu/wpi/first/math/MathShared.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.math;
 
+/** WPIMath utility functions. */
 public interface MathShared {
   /**
    * Report an error.

wpimath/src/main/java/edu/wpi/first/math/MathSharedStore.java

@@ -6,6 +6,7 @@ package edu.wpi.first.math;
 
 import edu.wpi.first.util.WPIUtilJNI;
 
+/** Storage for MathShared object. */
 public final class MathSharedStore {
   private static MathShared mathShared;
 

wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java

@@ -4,15 +4,35 @@
 
 package edu.wpi.first.math;
 
+/** WPIMath usage reporting IDs. */
 public enum MathUsageId {
+  /** DifferentialDriveKinematics. */
   kKinematics_DifferentialDrive,
+
+  /** MecanumDriveKinematics. */
   kKinematics_MecanumDrive,
+
+  /** SwerveDriveKinematics. */
   kKinematics_SwerveDrive,
+
+  /** TrapezoidProfile. */
   kTrajectory_TrapezoidProfile,
+
+  /** LinearFilter. */
   kFilter_Linear,
+
+  /** DifferentialDriveOdometry. */
   kOdometry_DifferentialDrive,
+
+  /** SwerveDriveOdometry. */
   kOdometry_SwerveDrive,
+
+  /** MecanumDriveOdometry. */
   kOdometry_MecanumDrive,
+
+  /** PIDController. */
   kController_PIDController2,
+
+  /** ProfiledPIDController. */
   kController_ProfiledPIDController,
 }

wpimath/src/main/java/edu/wpi/first/math/MathUtil.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.math;
 
+/** Math utility functions. */
 public final class MathUtil {
   private MathUtil() {
     throw new AssertionError("utility class");

wpimath/src/main/java/edu/wpi/first/math/Matrix.java

@@ -24,6 +24,7 @@ import org.ejml.simple.SimpleMatrix;
  * @param <C> The number of columns in this matrix.
  */
 public class Matrix<R extends Num, C extends Num> {
+  /** Storage for underlying EJML matrix. */
   protected final SimpleMatrix m_storage;
 
   /**

wpimath/src/main/java/edu/wpi/first/math/Num.java

@@ -6,6 +6,9 @@ package edu.wpi.first.math;
 
 /** A number expressed as a java class. */
 public abstract class Num {
+  /** Default constructor. */
+  public Num() {}
+
   /**
    * The number this is backing.
    *

wpimath/src/main/java/edu/wpi/first/math/Pair.java

@@ -4,23 +4,54 @@
 
 package edu.wpi.first.math;
 
+/**
+ * Represents a pair of two objects.
+ *
+ * @param <A> The first object's type.
+ * @param <B> The second object's type.
+ */
 public class Pair<A, B> {
   private final A m_first;
   private final B m_second;
 
+  /**
+   * Constructs a pair.
+   *
+   * @param first The first object.
+   * @param second The second object.
+   */
   public Pair(A first, B second) {
     m_first = first;
     m_second = second;
   }
 
+  /**
+   * Returns the first object.
+   *
+   * @return The first object.
+   */
   public A getFirst() {
     return m_first;
   }
 
+  /**
+   * Returns the second object.
+   *
+   * @return The second object.
+   */
   public B getSecond() {
     return m_second;
   }
 
+  /**
+   * Returns a pair comprised of the two given objects.
+   *
+   * @param <A> The first object's type.
+   * @param <B> The second object's type.
+   * @param a The first object.
+   * @param b The second object.
+   * @return A pair comprised of the two given objects.
+   */
   public static <A, B> Pair<A, B> of(A a, B b) {
     return new Pair<>(a, b);
   }

wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java

@@ -11,6 +11,7 @@ import edu.wpi.first.math.numbers.N4;
 import java.util.Random;
 import org.ejml.simple.SimpleMatrix;
 
+/** State-space utilities. */
 public final class StateSpaceUtil {
   private static Random rand = new Random();
 

wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java

@@ -14,12 +14,22 @@ import edu.wpi.first.util.struct.StructSerializable;
  * against the force of gravity on a beam suspended at an angle).
  */
 public class ArmFeedforward implements ProtobufSerializable, StructSerializable {
+  /** The static gain, in volts. */
   public final double ks;
+
+  /** The gravity gain, in volts. */
   public final double kg;
+
+  /** The velocity gain, in volt seconds per radian. */
   public final double kv;
+
+  /** The acceleration gain, in volt seconds² per radian. */
   public final double ka;
 
+  /** Arm feedforward protobuf for serialization. */
   public static final ArmFeedforwardProto proto = new ArmFeedforwardProto();
+
+  /** Arm feedforward struct for serialization. */
   public static final ArmFeedforwardStruct struct = new ArmFeedforwardStruct();
 
   /**

wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveWheelVoltages.java

@@ -11,16 +11,29 @@ import edu.wpi.first.util.struct.StructSerializable;
 
 /** Motor voltages for a differential drive. */
 public class DifferentialDriveWheelVoltages implements ProtobufSerializable, StructSerializable {
+  /** Left wheel voltage. */
   public double left;
+
+  /** Right wheel voltage. */
   public double right;
 
+  /** DifferentialDriveWheelVoltages protobuf for serialization. */
   public static final DifferentialDriveWheelVoltagesProto proto =
       new DifferentialDriveWheelVoltagesProto();
+
+  /** DifferentialDriveWheelVoltages struct for serialization. */
   public static final DifferentialDriveWheelVoltagesStruct struct =
       new DifferentialDriveWheelVoltagesStruct();
 
+  /** Default constructor. */
   public DifferentialDriveWheelVoltages() {}
 
+  /**
+   * Constructs a DifferentialDriveWheelVoltages.
+   *
+   * @param left Left wheel voltage.
+   * @param right Right wheel voltage.
+   */
   public DifferentialDriveWheelVoltages(double left, double right) {
     this.left = left;
     this.right = right;

wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java

@@ -17,12 +17,22 @@ import edu.wpi.first.util.struct.StructSerializable;
  * against the force of gravity).
  */
 public class ElevatorFeedforward implements ProtobufSerializable, StructSerializable {
+  /** The static gain. */
   public final double ks;
+
+  /** The gravity gain. */
   public final double kg;
+
+  /** The velocity gain. */
   public final double kv;
+
+  /** The acceleration gain. */
   public final double ka;
 
+  /** ElevatorFeedforward protobuf for serialization. */
   public static final ElevatorFeedforwardProto proto = new ElevatorFeedforwardProto();
+
+  /** ElevatorFeedforward struct for serialization. */
   public static final ElevatorFeedforwardStruct struct = new ElevatorFeedforwardStruct();
 
   /**

wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java

@@ -10,8 +10,13 @@ import edu.wpi.first.math.system.plant.LinearSystemId;
 
 /** A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. */
 public class SimpleMotorFeedforward {
+  /** The static gain. */
   public final double ks;
+
+  /** The velocity gain. */
   public final double kv;
+
+  /** The acceleration gain. */
   public final double ka;
 
   /**

wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java

@@ -13,11 +13,19 @@ import java.util.List;
 import java.util.Map;
 import java.util.function.BiConsumer;
 
+/**
+ * This class incorporates time-delayed measurements into a Kalman filter's state estimate.
+ *
+ * @param <S> The number of states.
+ * @param <I> The number of inputs.
+ * @param <O> The number of outputs.
+ */
 public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O extends Num> {
   private static final int kMaxPastObserverStates = 300;
 
   private final List<Map.Entry<Double, ObserverSnapshot>> m_pastObserverSnapshots;
 
+  /** Default constructor. */
   KalmanFilterLatencyCompensator() {
     m_pastObserverSnapshots = new ArrayList<>();
   }
@@ -164,9 +172,16 @@ public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O exte
 
   /** This class contains all the information about our observer at a given time. */
   public class ObserverSnapshot {
+    /** The state estimate. */
     public final Matrix<S, N1> xHat;
+
+    /** The error covariance. */
     public final Matrix<S, S> errorCovariances;
+
+    /** The inputs. */
     public final Matrix<I, N1> inputs;
+
+    /** The local measurements. */
     public final Matrix<O, N1> localMeasurements;
 
     private ObserverSnapshot(

wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanTypeFilter.java

@@ -8,24 +8,83 @@ import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Num;
 import edu.wpi.first.math.numbers.N1;
 
+/**
+ * Interface for Kalman filters for use with KalmanFilterLatencyCompensator.
+ *
+ * @param <States> The number of states.
+ * @param <Inputs> The number of inputs.
+ * @param <Outputs> The number of outputs.
+ */
 public interface KalmanTypeFilter<States extends Num, Inputs extends Num, Outputs extends Num> {
+  /**
+   * Returns the error covariance matrix.
+   *
+   * @return The error covariance matrix.
+   */
   Matrix<States, States> getP();
 
+  /**
+   * Returns an element of the error covariance matrix.
+   *
+   * @param i The row.
+   * @param j The column.
+   * @return An element of the error covariance matrix.
+   */
   double getP(int i, int j);
 
+  /**
+   * Sets the error covariance matrix.
+   *
+   * @param newP The error covariance matrix.
+   */
   void setP(Matrix<States, States> newP);
 
+  /**
+   * Returns the state estimate.
+   *
+   * @return The state estimate.
+   */
   Matrix<States, N1> getXhat();
 
+  /**
+   * Returns an element of the state estimate.
+   *
+   * @param i The row.
+   * @return An element of the state estimate.
+   */
   double getXhat(int i);
 
+  /**
+   * Sets the state estimate.
+   *
+   * @param xHat The state estimate.
+   */
   void setXhat(Matrix<States, N1> xHat);
 
+  /**
+   * Sets an element of the state estimate.
+   *
+   * @param i The row.
+   * @param value The value.
+   */
   void setXhat(int i, double value);
 
+  /** Resets the observer. */
   void reset();
 
+  /**
+   * Project the model into the future with a new control input u.
+   *
+   * @param u New control input from controller.
+   * @param dtSeconds Timestep for prediction.
+   */
   void predict(Matrix<Inputs, N1> u, double dtSeconds);
 
+  /**
+   * Correct the state estimate x-hat using the measurements in y.
+   *
+   * @param u Same control input used in the predict step.
+   * @param y Measurement vector.
+   */
   void correct(Matrix<Inputs, N1> u, Matrix<Outputs, N1> y);
 }

wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java

@@ -119,6 +119,7 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
     reset();
   }
 
+  /** Resets the observer. */
   public final void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
   }

wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java

@@ -11,9 +11,13 @@ import edu.wpi.first.math.MathSharedStore;
  * baseline for a specified period of time before the filtered value changes.
  */
 public class Debouncer {
+  /** Type of debouncing to perform. */
   public enum DebounceType {
+    /** Rising edge. */
     kRising,
+    /** Falling edge. */
     kFalling,
+    /** Both rising and falling edges. */
     kBoth
   }
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java

@@ -326,6 +326,9 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
     }
   }
 
-  public static final Pose2dStruct struct = new Pose2dStruct();
+  /** Pose2d protobuf for serialization. */
   public static final Pose2dProto proto = new Pose2dProto();
+
+  /** Pose2d struct for serialization. */
+  public static final Pose2dStruct struct = new Pose2dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java

@@ -323,6 +323,9 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
     }
   }
 
-  public static final Pose3dStruct struct = new Pose3dStruct();
+  /** Pose3d protobuf for serialization. */
   public static final Pose3dProto proto = new Pose3dProto();
+
+  /** Pose3d struct for serialization. */
+  public static final Pose3dStruct struct = new Pose3dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Quaternion.java

@@ -17,6 +17,7 @@ import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
+/** Represents a quaternion. */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class Quaternion implements ProtobufSerializable, StructSerializable {
@@ -405,6 +406,9 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
     return VecBuilder.fill(coeff * getX(), coeff * getY(), coeff * getZ());
   }
 
-  public static final QuaternionStruct struct = new QuaternionStruct();
+  /** Quaternion protobuf for serialization. */
   public static final QuaternionProto proto = new QuaternionProto();
+
+  /** Quaternion struct for serialization. */
+  public static final QuaternionStruct struct = new QuaternionStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java

@@ -275,6 +275,9 @@ public class Rotation2d
     return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
   }
 
-  public static final Rotation2dStruct struct = new Rotation2dStruct();
+  /** Rotation2d protobuf for serialization. */
   public static final Rotation2dProto proto = new Rotation2dProto();
+
+  /** Rotation2d struct for serialization. */
+  public static final Rotation2dStruct struct = new Rotation2dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java

@@ -432,6 +432,9 @@ public class Rotation3d
     return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
   }
 
-  public static final Rotation3dStruct struct = new Rotation3dStruct();
+  /** Rotation3d protobuf for serialization. */
   public static final Rotation3dProto proto = new Rotation3dProto();
+
+  /** Rotation3d struct for serialization. */
+  public static final Rotation3dStruct struct = new Rotation3dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java

@@ -184,6 +184,9 @@ public class Transform2d implements ProtobufSerializable, StructSerializable {
     return Objects.hash(m_translation, m_rotation);
   }
 
-  public static final Transform2dStruct struct = new Transform2dStruct();
+  /** Transform2d protobuf for serialization. */
   public static final Transform2dProto proto = new Transform2dProto();
+
+  /** Transform2d struct for serialization. */
+  public static final Transform2dStruct struct = new Transform2dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java

@@ -178,6 +178,9 @@ public class Transform3d implements ProtobufSerializable, StructSerializable {
     return Objects.hash(m_translation, m_rotation);
   }
 
-  public static final Transform3dStruct struct = new Transform3dStruct();
+  /** Transform3d protobuf for serialization. */
   public static final Transform3dProto proto = new Transform3dProto();
+
+  /** Transform3d struct for serialization. */
+  public static final Transform3dStruct struct = new Transform3dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java

@@ -250,6 +250,9 @@ public class Translation2d
         MathUtil.interpolate(this.getY(), endValue.getY(), t));
   }
 
-  public static final Translation2dStruct struct = new Translation2dStruct();
+  /** Translation2d protobuf for serialization. */
   public static final Translation2dProto proto = new Translation2dProto();
+
+  /** Translation2d struct for serialization. */
+  public static final Translation2dStruct struct = new Translation2dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java

@@ -253,6 +253,9 @@ public class Translation3d
         MathUtil.interpolate(this.getZ(), endValue.getZ(), t));
   }
 
-  public static final Translation3dStruct struct = new Translation3dStruct();
+  /** Translation3d protobuf for serialization. */
   public static final Translation3dProto proto = new Translation3dProto();
+
+  /** Translation3d struct for serialization. */
+  public static final Translation3dStruct struct = new Translation3dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java

@@ -26,6 +26,7 @@ public class Twist2d implements ProtobufSerializable, StructSerializable {
   /** Angular "dtheta" component (radians). */
   public double dtheta;
 
+  /** Default constructor. */
   public Twist2d() {}
 
   /**
@@ -67,6 +68,9 @@ public class Twist2d implements ProtobufSerializable, StructSerializable {
     return Objects.hash(dx, dy, dtheta);
   }
 
-  public static final Twist2dStruct struct = new Twist2dStruct();
+  /** Twist2d protobuf for serialization. */
   public static final Twist2dProto proto = new Twist2dProto();
+
+  /** Twist2d struct for serialization. */
+  public static final Twist2dStruct struct = new Twist2dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java

@@ -35,6 +35,7 @@ public class Twist3d implements ProtobufSerializable, StructSerializable {
   /** Rotation vector z component (radians). */
   public double rz;
 
+  /** Default constructor. */
   public Twist3d() {}
 
   /**
@@ -87,6 +88,9 @@ public class Twist3d implements ProtobufSerializable, StructSerializable {
     return Objects.hash(dx, dy, dz, rx, ry, rz);
   }
 
-  public static final Twist3dStruct struct = new Twist3dStruct();
+  /** Twist3d protobuf for serialization. */
   public static final Twist3dProto proto = new Twist3dProto();
+
+  /** Twist3d struct for serialization. */
+  public static final Twist3dStruct struct = new Twist3dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/interpolation/InterpolatingDoubleTreeMap.java

@@ -9,6 +9,7 @@ package edu.wpi.first.math.interpolation;
  * from points that are defined. This uses linear interpolation.
  */
 public class InterpolatingDoubleTreeMap extends InterpolatingTreeMap<Double, Double> {
+  /** Default constructor. */
   public InterpolatingDoubleTreeMap() {
     super(InverseInterpolator.forDouble(), Interpolator.forDouble());
   }

wpimath/src/main/java/edu/wpi/first/math/interpolation/Interpolator.java

@@ -24,6 +24,11 @@ public interface Interpolator<T> {
    */
   T interpolate(T startValue, T endValue, double t);
 
+  /**
+   * Returns interpolator for Double.
+   *
+   * @return Interpolator for Double.
+   */
   static Interpolator<Double> forDouble() {
     return MathUtil::interpolate;
   }

wpimath/src/main/java/edu/wpi/first/math/interpolation/InverseInterpolator.java

@@ -24,6 +24,11 @@ public interface InverseInterpolator<T> {
    */
   double inverseInterpolate(T startValue, T endValue, T q);
 
+  /**
+   * Returns inverse interpolator for Double.
+   *
+   * @return Inverse interpolator for Double.
+   */
   static InverseInterpolator<Double> forDouble() {
     return MathUtil::inverseInterpolate;
   }

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.

wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java

@@ -6,6 +6,7 @@ package edu.wpi.first.math.spline;
 
 import org.ejml.simple.SimpleMatrix;
 
+/** Represents a hermite spline of degree 3. */
 public class CubicHermiteSpline extends Spline {
   private static SimpleMatrix hermiteBasis;
   private final SimpleMatrix m_coefficients;

wpimath/src/main/java/edu/wpi/first/math/spline/PoseWithCurvature.java

@@ -8,10 +8,10 @@ import edu.wpi.first.math.geometry.Pose2d;
 
 /** Represents a pair of a pose and a curvature. */
 public class PoseWithCurvature {
-  // Represents the pose.
+  /** Represents the pose. */
   public Pose2d poseMeters;
 
-  // Represents the curvature.
+  /** Represents the curvature. */
   public double curvatureRadPerMeter;
 
   /**

wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java

@@ -6,6 +6,7 @@ package edu.wpi.first.math.spline;
 
 import org.ejml.simple.SimpleMatrix;
 
+/** Represents a hermite spline of degree 5. */
 public class QuinticHermiteSpline extends Spline {
   private static SimpleMatrix hermiteBasis;
   private final SimpleMatrix m_coefficients;

wpimath/src/main/java/edu/wpi/first/math/spline/Spline.java

@@ -99,7 +99,10 @@ public abstract class Spline {
    * the value of x[2] is the second derivative in the x dimension.
    */
   public static class ControlVector {
+    /** The x components of the control vector. */
     public double[] x;
+
+    /** The y components of the control vector. */
     public double[] y;
 
     /**

wpimath/src/main/java/edu/wpi/first/math/spline/SplineHelper.java

@@ -10,6 +10,7 @@ import java.util.Arrays;
 import java.util.List;
 import org.ejml.simple.SimpleMatrix;
 
+/** Helper class that is used to generate cubic and quintic splines from user provided waypoints. */
 public final class SplineHelper {
   /** Private constructor because this is a utility class. */
   private SplineHelper() {}

wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java

@@ -56,6 +56,7 @@ public final class SplineParameterizer {
     }
   }
 
+  /** Exception for malformed splines. */
   public static class MalformedSplineException extends RuntimeException {
     /**
      * Create a new exception with the given message.

wpimath/src/main/java/edu/wpi/first/math/system/Discretization.java

@@ -9,6 +9,7 @@ import edu.wpi.first.math.Num;
 import edu.wpi.first.math.Pair;
 import org.ejml.simple.SimpleMatrix;
 
+/** Discretization helper functions. */
 public final class Discretization {
   private Discretization() {
     // Utility class

wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java

@@ -8,6 +8,18 @@ import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Num;
 import edu.wpi.first.math.numbers.N1;
 
+/**
+ * A plant defined using state-space notation.
+ *
+ * <p>A plant is a mathematical model of a system's dynamics.
+ *
+ * <p>For more on the underlying math, read
+ * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
+ */
 public class LinearSystem<States extends Num, Inputs extends Num, Outputs extends Num> {
   /** Continuous system matrix. */
   private final Matrix<States, States> m_A;

wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java

@@ -11,6 +11,7 @@ import java.util.function.BiFunction;
 import java.util.function.DoubleFunction;
 import java.util.function.Function;
 
+/** Numerical integration utilities. */
 public final class NumericalIntegration {
   private NumericalIntegration() {
     // utility Class

wpimath/src/main/java/edu/wpi/first/math/system/NumericalJacobian.java

@@ -11,6 +11,7 @@ import edu.wpi.first.math.numbers.N1;
 import java.util.function.BiFunction;
 import java.util.function.Function;
 
+/** Numerical Jacobian utilities. */
 public final class NumericalJacobian {
   private NumericalJacobian() {
     // Utility Class.

wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java

@@ -12,16 +12,34 @@ import edu.wpi.first.util.struct.StructSerializable;
 
 /** Holds the constants for a DC motor. */
 public class DCMotor implements ProtobufSerializable, StructSerializable {
+  /** Voltage at which the motor constants were measured. */
   public final double nominalVoltageVolts;
+
+  /** Torque when stalled. */
   public final double stallTorqueNewtonMeters;
+
+  /** Current draw when stalled. */
   public final double stallCurrentAmps;
+
+  /** Current draw under no load. */
   public final double freeCurrentAmps;
+
+  /** Angular velocity under no load. */
   public final double freeSpeedRadPerSec;
+
+  /** Motor internal resistance. */
   public final double rOhms;
+
+  /** Motor velocity constant. */
   public final double KvRadPerSecPerVolt;
+
+  /** Motor torque constant. */
   public final double KtNMPerAmp;
 
+  /** DCMotor protobuf for serialization. */
   public static final DCMotorProto proto = new DCMotorProto();
+
+  /** DCMotor struct for serialization. */
   public static final DCMotorStruct struct = new DCMotorStruct();
 
   /**

wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java

@@ -12,6 +12,7 @@ import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N2;
 import edu.wpi.first.math.system.LinearSystem;
 
+/** Linear system ID utility functions. */
 public final class LinearSystemId {
   private LinearSystemId() {
     // Utility class

wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java

@@ -39,10 +39,20 @@ import java.util.Objects;
 public class ExponentialProfile {
   private final Constraints m_constraints;
 
+  /** Profile timing. */
   public static class ProfileTiming {
+    /** Profile inflection time. */
     public final double inflectionTime;
+
+    /** Total profile time. */
     public final double totalTime;
 
+    /**
+     * Constructs a ProfileTiming.
+     *
+     * @param inflectionTime Profile inflection time.
+     * @param totalTime Total profile time.
+     */
     protected ProfileTiming(double inflectionTime, double totalTime) {
       this.inflectionTime = inflectionTime;
       this.totalTime = totalTime;
@@ -55,14 +65,19 @@ public class ExponentialProfile {
      * @return if the profile is finished at time t.
      */
     public boolean isFinished(double t) {
-      return t > inflectionTime;
+      return t >= inflectionTime;
     }
   }
 
+  /** Profile constraints. */
   public static class Constraints {
+    /** Maximum unsigned input voltage. */
     public final double maxInput;
 
+    /** The State-Space 1x1 system matrix. */
     public final double A;
+
+    /** The State-Space 1x1 input matrix. */
     public final double B;
 
     /**
@@ -112,11 +127,15 @@ public class ExponentialProfile {
     }
   }
 
+  /** Profile state. */
   public static class State {
+    /** The position at this state. */
     public double position;
 
+    /** The velocity at this state. */
     public double velocity;
 
+    /** Default constructor. */
     public State() {}
 
     /**

wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java

@@ -20,6 +20,7 @@ import java.util.stream.Collectors;
  * represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
  */
 public class Trajectory implements ProtobufSerializable {
+  /** Trajectory protobuf for serialization. */
   public static final TrajectoryProto proto = new TrajectoryProto();
 
   private final double m_totalTimeSeconds;
@@ -269,28 +270,30 @@ public class Trajectory implements ProtobufSerializable {
    * represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
    */
   public static class State implements ProtobufSerializable {
+    /** Trajectory.State protobuf for serialization. */
     public static final TrajectoryStateProto proto = new TrajectoryStateProto();
 
-    // The time elapsed since the beginning of the trajectory.
+    /** The time elapsed since the beginning of the trajectory. */
     @JsonProperty("time")
     public double timeSeconds;
 
-    // The speed at that point of the trajectory.
+    /** The speed at that point of the trajectory. */
     @JsonProperty("velocity")
     public double velocityMetersPerSecond;
 
-    // The acceleration at that point of the trajectory.
+    /** The acceleration at that point of the trajectory. */
     @JsonProperty("acceleration")
     public double accelerationMetersPerSecondSq;
 
-    // The pose at that point of the trajectory.
+    /** The pose at that point of the trajectory. */
     @JsonProperty("pose")
     public Pose2d poseMeters;
 
-    // The curvature at that point of the trajectory.
+    /** The curvature at that point of the trajectory. */
     @JsonProperty("curvature")
     public double curvatureRadPerMeter;
 
+    /** Default constructor. */
     public State() {
       poseMeters = new Pose2d();
     }

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java

@@ -19,6 +19,7 @@ import java.util.Collection;
 import java.util.List;
 import java.util.function.BiConsumer;
 
+/** Helper class used to generate trajectories with various constraints. */
 public final class TrajectoryGenerator {
   private static final Trajectory kDoNothingTrajectory =
       new Trajectory(List.of(new Trajectory.State()));
@@ -263,16 +264,27 @@ public final class TrajectoryGenerator {
     return splinePoints;
   }
 
-  // Work around type erasure signatures
+  /** Control vector list type that works around type erasure signatures. */
   public static class ControlVectorList extends ArrayList<Spline.ControlVector> {
-    public ControlVectorList(int initialCapacity) {
+    /** Default constructor. */
-      super(initialCapacity);
-    }
-
     public ControlVectorList() {
       super();
     }
 
+    /**
+     * Constructs a ControlVectorList.
+     *
+     * @param initialCapacity The initial list capacity.
+     */
+    public ControlVectorList(int initialCapacity) {
+      super(initialCapacity);
+    }
+
+    /**
+     * Constructs a ControlVectorList.
+     *
+     * @param collection A collection of spline control vectors.
+     */
     public ControlVectorList(Collection<? extends Spline.ControlVector> collection) {
       super(collection);
     }