Added Function Docs

Author: srimanachanta

src/main/java/frc/robot/Modules/AimFire.java

@@ -6,7 +6,9 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class AimFire {
-  //Shooter, will probably be replaced with autonomous shooter stuff, need encoder
+/**
+ * If the right bumper is pressed, run the shooter flywheel at full speed. Otherwise, stop it
+ */
   public static void shooter() {
         if(Robot.controller.getRightBumper()) {
           Robot.shooterFly.set(ControlMode.PercentOutput, 1);
@@ -15,9 +17,14 @@ public static void shooter() {
         }
       }
 
+/**
+ * The function that will center the robot's aim on the target.
+ * 
+ * @param target The name of the target to aim at. ("top_hub","ball")
+ */
   public static void centerAim(String target) {
   //https://i.kym-cdn.com/entries/icons/original/000/039/393/cover2.jpg
-    switch(target) {
+    switch(target.toLowerCase()) {
       case "top_hub": // TODO: check PID on Triclops
         Limelight.setPipeline(0);
         Limelight.getLimelightData();
@@ -46,6 +53,10 @@ public static void centerAim(String target) {
     }
   }
 
+
+/**
+ * One click fire function
+ */
   public static void fire() { //TODO: One click fire
 
   }

src/main/java/frc/robot/Modules/BallTracking.java

@@ -7,10 +7,18 @@
 
 
 public class BallTracking {
+/**
+ * This function is called to initalise Alliance color and ball tracking
+ */
     public static void maininit() {
         SmartDashboard.putString("Alliance Color", "Waiting for Alliance Color");
     }
 
+/**
+ * This function is called when auto first started. 
+ * 
+ * It sets the alliance color to the value of the alliance color selected in the SmartDashboard
+ */
     public static void autoinit() {
         NetworkTableInstance.getDefault().getTable("TalonPi").getEntry("Alliance Color").setString(SmartDashboard.getString("Alliance Color", "RED"));
     }

src/main/java/frc/robot/Modules/Climbers.java

@@ -6,6 +6,10 @@
 public class Climbers {
 
     //Vertical Climb, no encoder
+/**
+ * If the D pad is up, then the climb extension motor will be set to 1. If the D pad is down, then the
+ * climb extension motor will be set to -1. Otherwise, the climb extension motor will be set to 0
+ */
     public static void climb() {
         if (Robot.controller.getPOV() == 0) { //Up on D pad
             Robot.climbExtension.set(ControlMode.PercentOutput, 1);
@@ -17,6 +21,10 @@ public static void climb() {
     }
 
     //Climb Rotation, no encoder
+/**
+ * If the D pad is pointed right, rotate the climber clockwise. If the D pad is pointed left, rotate
+ * the climber counterclockwise. Otherwise, stop the climber.
+ */
     public static void climbrotation() {
         if (Robot.controller.getPOV() == 90) { // Right on the D pad
             Robot.climbRotation.set(ControlMode.PercentOutput, 1);

src/main/java/frc/robot/Modules/DriveCode.java

@@ -15,6 +15,12 @@ public static void moveBack() {
         Robot.drive.tankDrive(-0.1, -0.1);
     }
 
+/**
+ * Drive the robot using the left and right master motors at the given motor speeds.*
+ * 
+ * @param motorSpeedLeft The speed that you want the left motor to go.
+ * @param motorSpeedRight The speed that you want the right side to go.
+ */
     public static void oldDriveTrain(double motorSpeedLeft, double motorSpeedRight) {
         Robot.leftMaster.set(ControlMode.PercentOutput, motorSpeedLeft);
         Robot.rightMaster.set(ControlMode.PercentOutput, motorSpeedRight);

src/main/java/frc/robot/Modules/Intake.java

@@ -5,7 +5,11 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Intake {
-    /** The spinny part that is duct taped together by "The Contractor" */
+    /** The spinny part that is duct taped together by "The Contractor"
+         * If the right bumper is pressed, the intake spins from the field to the robot. If the left bumper is
+         * pressed, the intake spins from the entrance of the robot to the flywheel. If neither bumper is
+         * pressed, the intake is stopped
+     */
     public static void rollers() { // Had absolute value of getRightY, would never be below zero!
         if (Robot.controller.getLeftBumper()) { //Right trigger spins intake from field to robot
             Robot.rollers.set(ControlMode.PercentOutput, -RobotInformation.DriveTeamInfo.rollerLBTransferPercentage);
@@ -17,20 +21,19 @@ public static void rollers() { // Had absolute value of getRightY, would never b
     }
 
     /** The stupid thing that looks cool but doesnt really work // edit: it works apparently */
+
+    /**
+     * This function is called when the left joystick is moved in the Y direction. 
+     * If the joystick is moved up, the wrist is set to the output of the joystick multiplied by the
+     * transfer percentage. 
+     * If the joystick is moved down, the wrist is set to 0
+     */
     public static void wrist() {
         if(Math.abs(Robot.controller.getLeftY()) > 0.2) {
             Robot.wrist.set(ControlMode.PercentOutput, (Robot.controller.getLeftY() * -RobotInformation.DriveTeamInfo.wristTransferPercentage));
         } else {
             Robot.wrist.set(ControlMode.PercentOutput, 0);
         }
-
-        // if (Robot.controller.getBButton()) { //sets intake in position to feed ball into flywheel
-        //   Robot.wrist.set(ControlMode.PercentOutput, 0.2);
-        // } else if (Robot.controller.getXButton()) { //sets intake in position to pick balls off field
-        //     Robot.wrist.set(ControlMode.PercentOutput, -0.2);
-        // } else {
-        //     Robot.wrist.set(ControlMode.PercentOutput, 0);
-        // }
       }
 
 }

src/main/java/frc/robot/Modules/Limelight.java

@@ -5,8 +5,12 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Limelight {
+    /** The last angle seen by the limelight that wasn't zero */
     public static double nonZeroLimelightHorAng; // Used to orient bot
 
+/**
+ * This function is used to update the SmartDashboard with the current values of the Limelight
+ */
     public static void updateSmartDashboard() {
         double[][] shooterCalculations = Limelight.getLimelightData();
         SmartDashboard.putNumber("Distance: ",shooterCalculations[0][0]);
@@ -18,6 +22,20 @@ public static void updateSmartDashboard() {
         SmartDashboard.putNumber("Non Zero Angle", nonZeroLimelightHorAng);
     }
 
+/**
+ * This function returns the distance between the limelight and the retroreflector, the optimal angle
+ * to shoot at, and the optimal ball velocity
+ * 
+ * @return The horizontal angle, vertical angle, and latency of the limelight.
+ *  <ul> 
+        <li>LimelightInfo[0][0] = distance; //Horizontal distance between the hubs and the limelight
+        <li>LimelightInfo[0][1] = angle; //Optimal Shooter Angle
+        <li>LimelightInfo[0][2] = velocity; //Optimal Ball velocity
+        <li>LimelightInfo[1][0] = horizontalAngle; //Horizontal angle between the limelight and the retroreflector
+        <li>LimelightInfo[1][1] = verticalAngle; //Vertical angle between limelight and retroreflector
+        <li>LimelightInfo[1][2] = limelightLatency; // Latency for limelight calculations
+ *  </ul>
+ */
     public static double[][] getLimelightData() {
         double[][] LimelightInfo = {{0,0,0},{0,0,0}};
         NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
@@ -44,6 +62,11 @@ public static double[][] getLimelightData() {
         return LimelightInfo;
       }
 
+/**
+ * Is the top hub present in the FOV?
+ * 
+ * @return A boolean value.
+ */
     public static boolean hubPresent() {
         NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
         double targetPresence = table.getEntry("tv").getDouble(0);
@@ -54,20 +77,36 @@ public static boolean hubPresent() {
         }
     }
 
+/**
+ * Initialises the Limelight for Top Hub tracking: Sets the LEDS to on, sets the pipeline to 0, and sets the Limelight as a Vision Processor
+ */
     public static void init() {
         setLEDS("on");
         NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(0); //Sets the pipeline to 0
         NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0); //Sets the Limelight as a Vision Proccesor
     }
 
+/**
+ * Sets the pipeline to the value of pipeline
+ * 
+ * @param pipeline 0-10
+ */
     public static void setPipeline(double pipeline) {
         NetworkTableInstance.getDefault().getTable("limelight").getEntry("pipeline").setNumber(pipeline); //Sets the pipeline to pipeline
     }
 
+/**
+ * Code run for limelight when robot is in a disabled state
+ */
     public static void disabled() {
         setLEDS("off"); // Turns off the god damm limelight cause im going to go blind and gouge my eyes out because wtf does it need to be so bright like holy hell
     }
 
+/**
+ * This function sets the LED mode of the limelight
+ * 
+ * @param mode The LED mode. ("off", "blink", "on")
+ */
     public static void setLEDS(String mode) {
         switch (mode) {
             case "off":

src/main/java/frc/robot/Modules/MotorControl.java

@@ -16,18 +16,40 @@
 
 
 public class MotorControl {
+    /**
+     * Given the ideal velocity and the transfer percentage, return the RPM
+     * 
+     * @param idealVelocity the velocity you want to achieve in meters per second
+     * @param transferPercent the percentage of the ideal velocity that is transferred to the wheel.
+     * @return The RPM of the motor.
+     */
     public static double getRPM(double idealVelocity, double transferPercent) {
         return (((idealVelocity*(1/transferPercent))/(Math.PI*0.1016))*60); // rudimentary calculation that's 90% wrong
     }
 
+    /**
+     * This function returns the current velocity of the motor. The motor must be a Falcon500
+     * 
+     * @param motor The motor you want to get the velocity of.
+     * @return The integrated sensor velocity of the motor.
+     */
     public static double getCurrentVelocity(WPI_TalonFX motor) { // If using a TalonFX motor only
         return (motor.getSensorCollection().getIntegratedSensorVelocity());
     }
 
+/**
+ * This function returns the current position of the motor. The motor must be a Falcon500
+ * 
+ * @param motor The motor you want to get the current position of.
+ * @return The current position of the motor.
+ */
     public static double getCurrentPosition(WPI_TalonFX motor) { // If using a TalonFX motor only
         return (motor.getSensorCollection().getIntegratedSensorPosition());
     }
 
+/**
+ * If the right bumper is pressed, run the flywheel at full power.
+ */
     public static void flywheel() {
         if(Robot.controller.getRightBumper()) {
             Robot.shooterFly.set(ControlMode.PercentOutput, 1);
@@ -36,6 +58,9 @@ public static void flywheel() {
         }
     }
 
+/**
+ * Initializes the motors for the robot
+ */
     public static void motor_init() {
         Robot.rightMaster.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 40, 40, .5));
         Robot.rightMaster.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 40, 40, .5));
@@ -69,7 +94,13 @@ public static void motor_init() {
         // Robot.shooterFly.config_kD(0, RobotInformation.PID_Values.flywheel.kD, 1); // (D) Differentiable Term
 
     }
-    /** Two parameters: motor, mode (RPM or Velocity) */
+    
+/**
+ * This function sets the RPM of a motor
+ * 
+ * @param position The motor position to set the RPM for.
+ * @param RPM The RPM of the motor.
+ */
     public static void setRPM(MotorPositions position, int RPM) {
         switch(position) {
             case Shooter: