diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDController.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDController.java
index fd3838e2f7..2dcfc1496b 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDController.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PIDController.java
@@ -372,10 +372,10 @@ public class PIDController implements LiveWindowSendable, Controller {
     }
 
     /**
-     * Sets the maximum and minimum values expected from the input.
+     * Sets the maximum and minimum values expected from the input and setpoint.
      *
-     * @param minimumInput the minimum percentage expected from the input
-     * @param maximumInput the maximum percentage expected from the output
+     * @param minimumInput the minimum value expected from the input
+     * @param maximumInput the maximum value expected from the input
      */
     public synchronized void setInputRange(double minimumInput, double maximumInput) {
         if (minimumInput > maximumInput) {
@@ -442,7 +442,7 @@ public class PIDController implements LiveWindowSendable, Controller {
      * Set the percentage error which is considered tolerable for use with
      * OnTarget. (Input of 15.0 = 15 percent)
      * @param percent error which is tolerable
-     * @deprecated Use {@link #setPercentTolerance(double) or {@link #setAbsoluteTolerance(double)} instead.
+     * @deprecated Use {@link #setPercentTolerance(double)} or {@link #setAbsoluteTolerance(double)} instead.
      */
     @Deprecated
 	public synchronized void setTolerance(double percent) {
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
index 158fd58961..4801157e67 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
@@ -95,11 +95,7 @@ public abstract class PIDCommand extends Command implements Sendable {
     /**
      * Returns the {@link PIDController} used by this {@link PIDCommand}.
      * Use this if you would like to fine tune the pid loop.
-     *
-     * <p>Notice that calling {@link PIDController#setSetpoint(double) setSetpoint(...)} on the controller
-     * will not result in the setpoint being trimmed to be in
-     * the range defined by {@link PIDCommand#setSetpointRange(double, double) setSetpointRange(...)}.</p>
-     *
+	 *
      * @return the {@link PIDController} used by this {@link PIDCommand}
      */
     protected PIDController getPIDController() {
@@ -120,7 +116,7 @@ public abstract class PIDCommand extends Command implements Sendable {
 
     /**
      * Adds the given value to the setpoint.
-     * If {@link PIDCommand#setRange(double, double) setRange(...)} was used,
+     * If {@link PIDCommand#setInputRange(double, double) setInputRange(...)} was used,
      * then the bounds will still be honored by this method.
      * @param deltaSetpoint the change in the setpoint
      */
@@ -129,7 +125,7 @@ public abstract class PIDCommand extends Command implements Sendable {
     }
 
     /**
-     * Sets the setpoint to the given value.  If {@link PIDCommand#setRange(double, double) setRange(...)}
+     * Sets the setpoint to the given value.  If {@link PIDCommand#setInputRange(double, double) setInputRange(...)}
      * was called,
      * then the given setpoint
      * will be trimmed to fit within the range.
@@ -154,6 +150,16 @@ public abstract class PIDCommand extends Command implements Sendable {
     protected double getPosition() {
         return returnPIDInput();
     }
+	
+	 /**
+     * Sets the maximum and minimum values expected from the input and setpoint.
+     *
+     * @param minimumInput the minimum value expected from the input and setpoint
+     * @param maximumInput the maximum value expected from the input and setpoint
+     */
+	protected void setInputRange(double minimumInput, double maximumInput) {
+		controller.setInputRange(minimumInput, maximumInput);
+	}
 
     /**
      * Returns the input for the pid loop.
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java
index c8baf8bcf9..a55bd76193 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java
@@ -126,10 +126,6 @@ public abstract class PIDSubsystem extends Subsystem implements Sendable {
      * Returns the {@link PIDController} used by this {@link PIDSubsystem}.
      * Use this if you would like to fine tune the pid loop.
      *
-     * <p>Notice that calling {@link PIDController#setSetpoint(double) setSetpoint(...)} on the controller
-     * will not result in the setpoint being trimmed to be in
-     * the range defined by {@link PIDSubsystem#setSetpointRange(double, double) setSetpointRange(...)}.</p>
-     *
      * @return the {@link PIDController} used by this {@link PIDSubsystem}
      */
     public PIDController getPIDController() {
@@ -139,7 +135,7 @@ public abstract class PIDSubsystem extends Subsystem implements Sendable {
 
     /**
      * Adds the given value to the setpoint.
-     * If {@link PIDCommand#setRange(double, double) setRange(...)} was used,
+     * If {@link PIDSubsystem#setInputRange(double, double) setInputRange(...)} was used,
      * then the bounds will still be honored by this method.
      * @param deltaSetpoint the change in the setpoint
      */
@@ -148,7 +144,7 @@ public abstract class PIDSubsystem extends Subsystem implements Sendable {
     }
 
     /**
-     * Sets the setpoint to the given value.  If {@link PIDCommand#setRange(double, double) setRange(...)}
+     * Sets the setpoint to the given value.  If {@link PIDSubsystem#setInputRange(double, double) setInputRange(...)}
      * was called,
      * then the given setpoint
      * will be trimmed to fit within the range.
@@ -197,8 +193,7 @@ public abstract class PIDSubsystem extends Subsystem implements Sendable {
     /**
     * Set the absolute error which is considered tolerable for use with
     * OnTarget. The value is in the same range as the PIDInput values.
-    * @param t A PIDController.Tolerance object instance that is for example
-    * AbsoluteTolerance or PercentageTolerance. E.g. setTolerance(new PIDController.AbsoluteTolerance(0.1))
+    * @param t the absolute tolerance
     */
     public void setAbsoluteTolerance(double t) {
         controller.setAbsoluteTolerance(t);
@@ -207,8 +202,7 @@ public abstract class PIDSubsystem extends Subsystem implements Sendable {
     /**
     * Set the percentage error which is considered tolerable for use with
     * OnTarget. (Value of 15.0 == 15 percent)
-    * @param t A PIDController.Tolerance object instance that is for example
-    * AbsoluteTolerance or PercentageTolerance. E.g. setTolerance(new PIDController.AbsoluteTolerance(0.1))
+    * @param p the percent tolerance
     */
     public void setPercentTolerance(double p) {
         controller.setPercentTolerance(p);
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
index a65f0cbe9a..c658a20a09 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
@@ -57,7 +57,7 @@ public class SmartDashboard {
 
     //TODO should we reimplement NamedSendable?
     /**
-     * Maps the specified key (where the key is the name of the {@link SmartDashboardNamedData}
+     * Maps the specified key (where the key is the name of the {@link NamedSendable} SmartDashboardNamedData
      * to the specified value in this table.
      * The value can be retrieved by calling the get method with a key that is equal to the original key.
      * @param value the value
@@ -72,7 +72,6 @@ public class SmartDashboard {
      * @param key the key
      * @return the value
      * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key
-     * @throws IllegalArgumentException if the value mapped to by the key is not a {@link SmartDashboardData}
      * @throws IllegalArgumentException if the key is null
      */
     public static Sendable getData(String key) {
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/util/BaseSystemNotInitializedException.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/util/BaseSystemNotInitializedException.java
index a84761e071..f5877cff8d 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/util/BaseSystemNotInitializedException.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/util/BaseSystemNotInitializedException.java
@@ -16,7 +16,7 @@ package edu.wpi.first.wpilibj.util;
 public class BaseSystemNotInitializedException extends RuntimeException {
 	 /**
      * Create a new BaseSystemNotInitializedException
-     * @param msg the message to attach to the exception
+     * @param message the message to attach to the exception
      */
 	public BaseSystemNotInitializedException(String message) {
 		super(message);
diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/util/BoundaryException.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/util/BoundaryException.java
index 676687eb58..d3b70d4902 100644
--- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/util/BoundaryException.java
+++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/util/BoundaryException.java
@@ -53,7 +53,7 @@ public class BoundaryException extends RuntimeException {
 	 *            The lower limit
 	 * @param upper
 	 *            The upper limit
-	 * @return
+	 * @return the message for a boundary exception
 	 */
 	public static String getMessage(double value, double lower, double upper) {
 		return "Value must be between " + lower + " and " + upper + ", "
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 a7c8d0c8f8..91fce9af9e 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
@@ -91,19 +91,19 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer {
 		m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | value);
 	}
 
-	/** {@inheritdoc} */
+	/** {@inheritDoc} */
 	@Override
 	public double getX() {
 		return getAcceleration(Axes.kX);
 	}
 
-	/** {@inheritdoc} */
+	/** {@inheritDoc} */
 	@Override
 	public double getY() {
 		return getAcceleration(Axes.kY);
 	}
 
-	/** {@inheritdoc} */
+	/** {@inheritDoc} */
 	@Override
 	public double getZ() {
 		return getAcceleration(Axes.kZ);
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 80f9dda3f2..6faf159eea 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
@@ -64,12 +64,9 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer {
 	private SPI m_spi;
 
 	/**
-	 * Constructor. Use this when the device is the first/only device on the bus
+	 * Constructor.
 	 *
-	 * @param clk The clock channel
-	 * @param mosi The mosi (output) channel
-	 * @param miso The miso (input) channel
-	 * @param cs The chip select channel
+	 * @param port the 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) {
@@ -132,19 +129,19 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer {
 		m_spi.write(commands, commands.length);
 	}
 
-	/** {@inheritdoc} */
+	/** {@inheritDoc} */
 	@Override
 	public double getX() {
 		return getAcceleration(Axes.kX);
 	}
 
-	/** {@inheritdoc} */
+	/** {@inheritDoc} */
 	@Override
 	public double getY() {
 		return getAcceleration(Axes.kY);
 	}
 
-	/** {@inheritdoc} */
+	/** {@inheritDoc} */
 	@Override
 	public double getZ() {
 		return getAcceleration(Axes.kZ);
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
index 2c45b780d2..c8e0c38045 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/CANJaguar.java
@@ -1157,7 +1157,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 	 * position sensing from a quadrature encoder.<br>
 	 * After calling this you must call {@link CANJaguar#enableControl()} or {@link CANJaguar#enableControl(double)} to enable the device.
 	 *
-	 * @param endoer The constant {@link CANJaguar#kQuadEncoder}
+	 * @param tag The constant {@link CANJaguar#kQuadEncoder}
 	 * @param p The proportional gain of the Jaguar's PID controller.
 	 * @param i The integral gain of the Jaguar's PID controller.
 	 * @param d The differential gain of the Jaguar's PID controller.
@@ -1800,7 +1800,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 	* 	is added internally)
 	* @param data The up to 8 bytes of data to be sent with the message
 	* @param dataSize Specify how much of the data in "data" to send
-	* @param periodic If positive, tell Network Communications to send the
+	* @param period If positive, tell Network Communications to send the
 	* 	message every "period" milliseconds.
 	*/
 	protected void sendMessage(int messageID, byte[] data, int dataSize, int period) {
@@ -1808,7 +1808,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 	}
 
 	/**
-	* Send a message to the Jaguar, non-periodly
+	* Send a message to the Jaguar, non-periodically
 	*
 	* @param messageID The messageID to be used on the CAN bus (device number
 	* 	is added internally)
@@ -1823,7 +1823,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 	* Request a message from the Jaguar, but don't wait for it to arrive.
 	*
 	* @param messageID The message to request
-	* @param periodic If positive, tell Network Communications to request the
+	* @param period If positive, tell Network Communications to request the
 	* 	message every "period" milliseconds.
 	*/
 	protected void requestMessage(int messageID, int period) {
@@ -1847,7 +1847,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, SpeedController, LiveW
 	* @param messageID The messageID to read from the CAN bus (device number is added internally)
 	* @param data The up to 8 bytes of data that was received with the message
 	*
-	* @throw CANMessageNotFoundException if there's not new message available
+	* @throws CANMessageNotFoundException if there's not new message available
 	*/
 	protected void getMessage(int messageID, int messageMask, byte[] data) throws CANMessageNotFoundException {
 		messageID |= m_deviceNumber;
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 306afbfa93..a240ec9c27 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
@@ -26,7 +26,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
 
 	/**
 	 * Create an instance of the Compressor
-	 * @param pcmID
+	 * @param pcmId
 	 * 		The PCM CAN device ID. Most robots that use PCM will have a single module. Use this
 	 * 		for supporting a second module other than the default.
 	 */
@@ -71,7 +71,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
 
 	/**
 	 * Get the enabled status of the compressor
-	 * @returns true if the compressor is on
+	 * @return true if the compressor is on
 	 */
 	public boolean enabled() {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
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 07d676a9a8..aa4c2fc0a2 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
@@ -466,7 +466,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * Read the current scaled counter value. Read the value at this instant,
 	 * scaled by the distance per pulse (defaults to 1).
 	 *
-	 * @return
+	 * @return The distance since the last reset
 	 */
 	public double getDistance() {
 		return get() * m_distancePerPulse;
@@ -581,7 +581,7 @@ public class Counter extends SensorBase implements CounterBase,
 	 * most recent count. This can be used for velocity calculations to
 	 * determine shaft speed.
 	 *
-	 * @returns The period of the last two pulses in units of seconds.
+	 * @return The period of the last two pulses in units of seconds.
 	 */
 	@Override
 	public double getPeriod() {
diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
index 6d5e2c8c4b..7ca88e7045 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
@@ -58,17 +58,17 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	}
 
 	/**
-	 * @return
+	 * @return true if this is an analog trigger
 	 */
 	abstract boolean getAnalogTriggerForRouting();
 
 	/**
-	 * @return
+	 * @return channel routing number
 	 */
 	abstract int getChannelForRouting();
 
 	/**
-	 * @return
+	 * @return module routing number
 	 */
 	abstract byte getModuleForRouting();
 
@@ -76,7 +76,7 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * Request interrupts asynchronously on this digital input.
 	 *
 	 * @param handler
-	 *            The {@link #InterruptHandlerFunction} that contains the method
+	 *            The {@link InterruptHandlerFunction} that contains the method
 	 *            {@link InterruptHandlerFunction#interruptFired(int, Object)} that
 	 *            will be called whenever there is an interrupt on this device.
 	 *            Request interrupts in synchronus mode where the user program
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 46d5e6796b..51116d981c 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
@@ -46,7 +46,7 @@ public class SPI extends SensorBase {
 	/**
 	 * Constructor
 	 *
-	 * @param SPIport the physical SPI port
+	 * @param port the physical SPI port
 	 */
     public SPI(Port port) {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
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 49c3fd8e29..3d5b402877 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
@@ -24,8 +24,8 @@ public class Servo extends PWM {
     private static final double kMaxServoAngle = 180.0;
     private static final double kMinServoAngle = 0.0;
 
-    private static final double kDefaultMaxServoPWM = 2.4;
-    private static final double kDefaultMinServoPWM = .6;
+    protected static final double kDefaultMaxServoPWM = 2.4;
+    protected static final double kDefaultMinServoPWM = .6;
 
     /**
      * Common initialization code called by all constructors.