diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/Action.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/Action.java
index f24ad2c..bf08634 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/Action.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/Action.java
@@ -23,5 +23,10 @@ public interface Action {
 	 */
 	void end(double timestamp);
 
+	/**
+	 * Returns whether action should be removed when robot has been disabled.
+	 *
+	 * @return Always returns false
+	 */
 	default boolean getRemoveOnDisabled() {return false;}
 }
\ No newline at end of file
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/FunctionAction.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/FunctionAction.java
index d30c8e0..250ae5e 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/FunctionAction.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/FunctionAction.java
@@ -9,6 +9,11 @@ public class FunctionAction implements Action {
 	private final Runnable function;
 	private final boolean removeOnDisabled;
 
+	/**
+	 * Creates a new action from a function
+	 * @param function
+	 * @param removeOnDisabled
+	 */
 	public FunctionAction(Runnable function, boolean removeOnDisabled) {
 		this.function = function;
 		this.removeOnDisabled = removeOnDisabled;
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/ParallelAction.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/ParallelAction.java
index 00f1462..20c573b 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/ParallelAction.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/ParallelAction.java
@@ -15,10 +15,18 @@ public class ParallelAction implements Action {
 
 	private List<Action> actions;
 
+	/**
+	 * Creates a new action that runs a list of actions to be run simultaneously
+	 * @param actions
+	 */
 	public ParallelAction(List<? extends Action> actions) {
 		this.actions = new ArrayList<>(actions);
 	}
 
+	/**
+	 * Creates a new action that runs a list of actions to be run simultaneously
+	 * @param actions
+	 */
 	public ParallelAction(Action...actions) {
 		this(Arrays.asList(actions));
 	}
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/SeriesAction.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/SeriesAction.java
index 24cf43f..572a7a2 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/SeriesAction.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/SeriesAction.java
@@ -15,10 +15,18 @@ public class SeriesAction implements Action {
 
 	private Action currentAction;
 
+	/**
+	 * Creates a new action from a list of actions to be run sequentially
+	 * @param actions
+	 */
 	public SeriesAction(List<? extends Action> actions) {
 		this.actions = new LinkedList<>(actions);
 	}
 
+	/**
+	 * Creates a new action from a list of actions to be run sequentially
+	 * @param actions
+	 */
 	public SeriesAction(Action... actions) {
 		this(Arrays.asList(actions));
 	}
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/WaitAction.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/WaitAction.java
index 3327da5..743e0cd 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/WaitAction.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/actions/WaitAction.java
@@ -5,6 +5,10 @@ public class WaitAction implements Action {
 	private double duration;
 	private double startTime;
 
+	/**
+	 * Create a new action to wait an amount of time in seconds
+	 * @param durationInSeconds
+	 */
 	public WaitAction(double durationInSeconds) {
 		this.duration = durationInSeconds;
 	}
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Subsystem1d.java b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Subsystem1d.java
index 3aab459..46f061e 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Subsystem1d.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Subsystem1d.java
@@ -19,7 +19,7 @@ abstract class Subsystem1d<P extends Subsystem1d.Position> extends Subsystem {
 	Subsystem1d(CANSparkMaxWrapper motor) {
 		try {
 			this.motor = motor;
-			motor.setPeriodicFrame(CANSparkMaxLowLevel.PeriodicFrame.kStatus2, 10);
+			motor.setPeriodicFrame(CANSparkMaxLowLevel.PeriodicFrame.kStatus2);
 			motor.set(0, ControlType.kDutyCycle);
 			motor.setNeutralMode(CANSparkMax.IdleMode.kBrake);
 		} catch (SparkMaxException e) {
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/ArcadeDrive.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/ArcadeDrive.java
index 8c0f552..9465f20 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/ArcadeDrive.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/ArcadeDrive.java
@@ -1,5 +1,8 @@
 package com.team2813.lib.drive;
 
+/**
+ * Arcade Drive: determine steer using x, y, and a deadzone
+ */
 public class ArcadeDrive {
     private double deadzone;
 
@@ -23,10 +26,6 @@ public DriveDemand getDemand(double x, double y) {
             double xMax = 0.4;
             steer = 1.0 * x;
         }
-//
-//        System.out.println(throttleLeft + " " + throttleRight);
-
-//        System.out.println((throttleLeft - steer) + " " + (throttleLeft + steer));
 
         return new DriveDemand(throttleLeft + steer, throttleRight - steer);
     }
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/CurvatureDrive.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/CurvatureDrive.java
index c1c419a..2e6aadc 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/CurvatureDrive.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/CurvatureDrive.java
@@ -1,5 +1,10 @@
 package com.team2813.lib.drive;
 
+/**
+ * Curvature Drive: use one axis for forward, another
+ * for reverse, and a third for steering, with a pivot
+ * button
+ */
 public class CurvatureDrive {
     private ArcadeDrive arcadeDrive;
 
@@ -7,8 +12,8 @@ public CurvatureDrive(double deadzone) {
         arcadeDrive = new ArcadeDrive(deadzone);
     }
 
-    public DriveDemand getDemand(double throttleForward, double throttleBackward, double steerX, boolean pivot) {
-        double throttle =  2 * Math.asin(throttleForward - throttleBackward) / Math.PI;
+    public DriveDemand getDemand(double throttleForward, double throttleReverse, double steerX, boolean pivot) {
+        double throttle =  2 * Math.asin(throttleForward - throttleReverse) / Math.PI;
         double steer = 2 * Math.asin(steerX) / Math.PI;
 
         steer = -steer;
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/VelocityDrive.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/VelocityDrive.java
index a6bbdef..a9000bd 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/VelocityDrive.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/drive/VelocityDrive.java
@@ -13,6 +13,12 @@ public VelocityDrive(double maxVelocity) {
         this.maxVelocity = maxVelocity;
     }
 
+    /**
+     * Configure a CANSparkMaxWrapper with configuration for velocity drive.
+     * @param spark
+     * @param config
+     * @throws SparkMaxException
+     */
     public void configureMotor(CANSparkMaxWrapper spark, SparkConfig config) throws SparkMaxException {
         this.spark = spark;
         PIDControllerConfig pidConfig = config.getPidControllers().get(0);
@@ -29,14 +35,6 @@ public void setMaxVelocity(int maxVelocity) {
         this.maxVelocity = maxVelocity;
     }
 
-//    public void setAccelerating(boolean accelerating) {
-//        if (accelerating) {
-//            spark.getPIDController().setSmartMotionMaxAccel(maxAccel, 0);
-//        } else {
-//            spark.getPIDController().setSmartMotionMaxAccel(maxAccel * .4, 0);
-//        }
-//    }
-
     public double getVelocityFromDemand(double demand) {
         return maxVelocity * demand;
     }
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java
index 793c07d..5ad7d85 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/sparkMax/CANSparkMaxWrapper.java
@@ -2,6 +2,7 @@
 
 import com.revrobotics.*;
 import com.team2813.lib.config.Inverted;
+import com.team2813.lib.config.PeriodicFrame;
 import com.team2813.lib.config.SparkConfig;
 import com.team2813.lib.talon.CTREException;
 import com.team2813.lib.talon.TalonWrapper;
@@ -50,37 +51,6 @@ protected void throwIfNotOk(CANError error) throws SparkMaxException {
 		SparkMaxException.throwIfNotOk(subsystemName, error);
 	}
 
-	/**
-	 * TODO spark max doesn't have a way to get the last error thrown
-	 * Helper function for handling talon methods that do not return an error code but still need to check for one
-	 *
-	 * <p>from TalonSRX.getLastError():</p>
-	 * <blockquote>
-	 * Gets the last error generated by this object. Not all functions return an
-	 * error code but can potentially report errors. This function can be used
-	 * to retrieve those error codes.
-	 * </blockquote>
-	 *
-	 * @param value - value to return
-	 * @return value
-	 * @throws SparkMaxException - if talon had error code
-	 */
-	//TODO better name for this
-//	protected <T> T throwIfNotOkElseReturn(T value) throws SparkMaxException {
-//		throwLastError();
-//		return value;
-//	}
-
-//	public CANError getLastError() {
-//		return this.getLastError();
-//	}
-
-//	FIXME temporary fix
-//	public void throwLastError() throws SparkMaxException {
-//		CANError code = getLastError();
-//		throwIfNotOk(code);
-//	}
-
 	// #endregion
 
 	//#region Smart Current Limit
@@ -340,6 +310,10 @@ public void setTimeout(int timeoutMs) throws SparkMaxException {
 		throwIfNotOk(setCANTimeout(timeoutMs));
 	}
 
+	public void setTimeout() throws SparkMaxException {
+		setTimeout(TimeoutMode.RUNNING.valueMs);
+	}
+
 	//#region Motor Type
 
 	public void setTypeOfMotor(MotorType type) throws SparkMaxException {
@@ -356,10 +330,32 @@ public void setMotorBrushless() throws SparkMaxException {
 
 	//#endregion
 
+	/**
+	 * Set the rate of transmission for periodic frames from the SPARK MAX
+	 *
+	 * Each motor controller sends back three status frames with different data at
+	 * set rates. Use this function to change the default rates.
+	 *
+	 * Defaults: Status0 - 10ms Status1 - 20ms Status2 - 50ms
+	 *
+	 * This value is not stored in the FLASH after calling burnFlash() and is reset
+	 * on powerup.
+	 *
+	 * Refer to the SPARK MAX reference manual on details for how and when to
+	 * configure this parameter.
+	 *
+	 * @param frameID  The frame ID can be one of PeriodicFrame type
+	 * @param periodMs The rate the controller sends the frame to the controller.
+	 *
+	 */
 	public void setPeriodicFrame(PeriodicFrame frameID, int periodMs) throws SparkMaxException {
 		throwIfNotOk(setPeriodicFramePeriod(frameID, periodMs));
 	}
 
+	public void setPeriodicFrame(PeriodicFrame frameID) throws SparkMaxException {
+		setPeriodicFrame(frameID, TimeoutMode.RUNNING.valueMs);
+	}
+
 	public void setEncoderPosition(double position) throws SparkMaxException {
 		throwIfNotOk(setEncPosition(position));
 	}
@@ -636,4 +632,22 @@ public void setInverted(InvertType invertType) {
 
 	//#endregion
 
+	/**
+	 * Enum storing different timeout values in ms for construction time
+	 * or runtime updates.
+	 */
+	public enum TimeoutMode {
+		/** Longer timeout, used for constructors */
+		CONSTRUCTING(100),
+		/** Shorter timeout, used for on the fly updates */
+		RUNNING(10),
+		NO_TIMEOUT(0);
+
+		final int valueMs;
+
+		private TimeoutMode(int valueMs) {
+			this.valueMs = valueMs;
+		}
+	}
+
 }
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/talon/BaseMotorControllerWrapper.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/talon/BaseMotorControllerWrapper.java
index dd102ee..e5aed6f 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/lib/talon/BaseMotorControllerWrapper.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/talon/BaseMotorControllerWrapper.java
@@ -38,7 +38,6 @@ public abstract class BaseMotorControllerWrapper<Controller extends BaseMotorCon
 	 * @return value
 	 * @throws CTREException - if talon had error code
 	 */
-	//TODO better name for this
 	protected <T> T throwIfNotOkElseReturn(T value) throws CTREException {
 		throwLastError();
 		return value;
@@ -92,6 +91,11 @@ public void setNeutralMode(NeutralMode mode) throws CTREException {
 	// #region Invert behavior
 
 
+	/**
+	 * Invert the encoder
+	 * @param inverted
+	 * @throws CTREException
+	 */
 	public void setSensorPhaseInverted(boolean inverted) throws CTREException {
 		motorController.setSensorPhase(inverted);
 		throwLastError();
@@ -121,7 +125,7 @@ public InvertType getInvertType() {
 	// #region Factory Default Configuration
 
 	public void setFactoryDefaults() throws CTREException {
-		throwIfNotOk(motorController.configFactoryDefault(timeoutMode.value));
+		throwIfNotOk(motorController.configFactoryDefault(timeoutMode.valueMs));
 	}
 
 	// #endregion
@@ -129,35 +133,35 @@ public void setFactoryDefaults() throws CTREException {
 	// #region general output shaping
 
 	public void setOpenLoopRamp(double seconds) throws CTREException {
-		throwIfNotOk(motorController.configOpenloopRamp(seconds, timeoutMode.value));
+		throwIfNotOk(motorController.configOpenloopRamp(seconds, timeoutMode.valueMs));
 	}
 
 	public void setClosedLoopRamp(double seconds) throws CTREException {
-		throwIfNotOk(motorController.configClosedloopRamp(seconds, timeoutMode.value));
+		throwIfNotOk(motorController.configClosedloopRamp(seconds, timeoutMode.valueMs));
 	}
 
 
 	public void setPeakOutputForward(double percentOut) throws CTREException {
-		throwIfNotOk(motorController.configPeakOutputForward(percentOut, timeoutMode.value));
+		throwIfNotOk(motorController.configPeakOutputForward(percentOut, timeoutMode.valueMs));
 	}
 
 
 	public void setPeakOutputReverse(double percentOut) throws CTREException {
-		throwIfNotOk(motorController.configPeakOutputReverse(percentOut, timeoutMode.value));
+		throwIfNotOk(motorController.configPeakOutputReverse(percentOut, timeoutMode.valueMs));
 	}
 
 
 	public void setNominalOutputForward(double percentOut) throws CTREException {
-		throwIfNotOk(motorController.configNominalOutputForward(percentOut, timeoutMode.value));
+		throwIfNotOk(motorController.configNominalOutputForward(percentOut, timeoutMode.valueMs));
 	}
 
 
 	public void setNominalOutputReverse(double percentOut) throws CTREException {
-		throwIfNotOk(motorController.configNominalOutputReverse(percentOut, timeoutMode.value));
+		throwIfNotOk(motorController.configNominalOutputReverse(percentOut, timeoutMode.valueMs));
 	}
 
 	public void setNeutralDeadband(double percentDeadband) throws CTREException {
-		throwIfNotOk(motorController.configNeutralDeadband(percentDeadband, timeoutMode.value));
+		throwIfNotOk(motorController.configNeutralDeadband(percentDeadband, timeoutMode.valueMs));
 	}
 
 	// #endregion
@@ -166,12 +170,12 @@ public void setNeutralDeadband(double percentDeadband) throws CTREException {
 
 
 	public void setVoltageCompensationSaturation(double voltage) throws CTREException {
-		throwIfNotOk(motorController.configVoltageCompSaturation(voltage, timeoutMode.value));
+		throwIfNotOk(motorController.configVoltageCompSaturation(voltage, timeoutMode.valueMs));
 	}
 
 
 	public void setVoltageMeasurementFilter(int filterWindowSamples) throws CTREException {
-		throwIfNotOk(motorController.configVoltageMeasurementFilter(filterWindowSamples, timeoutMode.value));
+		throwIfNotOk(motorController.configVoltageMeasurementFilter(filterWindowSamples, timeoutMode.valueMs));
 	}
 
 
@@ -217,31 +221,51 @@ public double getTemperature() throws CTREException {
 	// #region Sensor Selection	
 
 	public void setSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice, PidIdx pidIdx) throws CTREException {
-		throwIfNotOk(motorController.configSelectedFeedbackSensor(feedbackDevice, pidIdx.value, timeoutMode.value));
+		throwIfNotOk(motorController.configSelectedFeedbackSensor(feedbackDevice, pidIdx.value, timeoutMode.valueMs));
 	}
 	
 
 	public void setSelectedFeedbackSensor(FeedbackDevice feedbackDevice, PidIdx pidIdx) throws CTREException {
-		throwIfNotOk(motorController.configSelectedFeedbackSensor(feedbackDevice, pidIdx.value, timeoutMode.value));
+		throwIfNotOk(motorController.configSelectedFeedbackSensor(feedbackDevice, pidIdx.value, timeoutMode.valueMs));
 	}
 	
 	public void setSelectedFeedbackCoefficient(double coefficient, PidIdx pidIdx) throws CTREException {
-		throwIfNotOk(motorController.configSelectedFeedbackCoefficient(coefficient, pidIdx.value, timeoutMode.value));
+		throwIfNotOk(motorController.configSelectedFeedbackCoefficient(coefficient, pidIdx.value, timeoutMode.valueMs));
 	}
 	
 
 	public void setRemoteFeedbackFilter(int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal) throws CTREException {
-		throwIfNotOk(motorController.configRemoteFeedbackFilter(deviceID, remoteSensorSource, remoteOrdinal, timeoutMode.value));
+		throwIfNotOk(motorController.configRemoteFeedbackFilter(deviceID, remoteSensorSource, remoteOrdinal, timeoutMode.valueMs));
 	}
-	
 
+
+	/**
+	 * Select what sensor term should be bound to switch feedback device.
+	 * Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1
+	 * Sensor Difference = Sensor Diff Term 0 - Sensor Diff Term 1
+	 * The four terms are specified with this routine.  Then Sensor Sum/Difference
+	 * can be selected for closed-looping.
+	 *
+	 * @param sensorTerm Which sensor term to bind to a feedback source.
+	 * @param feedbackDevice The sensor signal to attach to sensorTerm.
+	 */
 	public void setSensorTerm(SensorTerm sensorTerm, FeedbackDevice feedbackDevice) throws CTREException {
-		throwIfNotOk(motorController.configSensorTerm(sensorTerm, feedbackDevice, timeoutMode.value));
+		throwIfNotOk(motorController.configSensorTerm(sensorTerm, feedbackDevice, timeoutMode.valueMs));
 	}
-	
 
+
+	/**
+	 * Select what sensor term should be bound to switch feedback device.
+	 * Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1
+	 * Sensor Difference = Sensor Diff Term 0 - Sensor Diff Term 1
+	 * The four terms are specified with this routine.  Then Sensor Sum/Difference
+	 * can be selected for closed-looping.
+	 *
+	 * @param sensorTerm Which sensor term to bind to a feedback source.
+	 * @param feedbackDevice The sensor signal to attach to sensorTerm.
+	 */
 	public void setSensorTerm(SensorTerm sensorTerm, RemoteFeedbackDevice feedbackDevice) throws CTREException {
-		throwIfNotOk(motorController.configSensorTerm(sensorTerm, feedbackDevice, timeoutMode.value));
+		throwIfNotOk(motorController.configSensorTerm(sensorTerm, feedbackDevice, timeoutMode.valueMs));
 	}
 	
 	// #endregion
@@ -265,7 +289,7 @@ public int getSelectedSensorVelocity() throws CTREException {
 	}
 	
 	public void setSelectedSensorPosition(PidIdx pidIdx, int sensorPos) throws CTREException {
-		throwIfNotOk(motorController.setSelectedSensorPosition(sensorPos, pidIdx.value, timeoutMode.value));
+		throwIfNotOk(motorController.setSelectedSensorPosition(sensorPos, pidIdx.value, timeoutMode.valueMs));
 	}
 	
 	public void setSelectedSensorPosition(int sensorPos) throws CTREException {
@@ -287,23 +311,23 @@ public void setControlFramePeriod(int frame, int periodMs) throws CTREException
 	}
 	
 	public void setStatusFramePeriod(int frameValue, int periodMs) throws CTREException {
-		throwIfNotOk(motorController.setStatusFramePeriod(frameValue, periodMs, timeoutMode.value));
+		throwIfNotOk(motorController.setStatusFramePeriod(frameValue, periodMs, timeoutMode.valueMs));
 	}
 	
 	public void setStatusFramePeriod(StatusFrame frame, int periodMs) throws CTREException {
-		throwIfNotOk(motorController.setStatusFramePeriod(frame, periodMs, timeoutMode.value));
+		throwIfNotOk(motorController.setStatusFramePeriod(frame, periodMs, timeoutMode.valueMs));
 	}
 	
 	public int getStatusFramePeriod(int frameValue) throws CTREException {
-		return throwIfNotOkElseReturn(motorController.getStatusFramePeriod(frameValue, timeoutMode.value));
+		return throwIfNotOkElseReturn(motorController.getStatusFramePeriod(frameValue, timeoutMode.valueMs));
 	}
 	
 	public int getStatusFramePeriod(StatusFrame frame) throws CTREException {
-		return throwIfNotOkElseReturn(motorController.getStatusFramePeriod(frame, timeoutMode.value));
+		return throwIfNotOkElseReturn(motorController.getStatusFramePeriod(frame, timeoutMode.valueMs));
 	}
 	
 	public int getStatusFramePeriod(StatusFrameEnhanced frame) throws CTREException {
-		return throwIfNotOkElseReturn(motorController.getStatusFramePeriod(frame, timeoutMode.value));
+		return throwIfNotOkElseReturn(motorController.getStatusFramePeriod(frame, timeoutMode.valueMs));
 	}
 	
 	// #endregion
@@ -312,12 +336,12 @@ public int getStatusFramePeriod(StatusFrameEnhanced frame) throws CTREException
 	
 
 	public void setVelocityMeasurementPeriod(VelocityMeasPeriod period) throws CTREException {
-		throwIfNotOk(motorController.configVelocityMeasurementPeriod(period, timeoutMode.value));
+		throwIfNotOk(motorController.configVelocityMeasurementPeriod(period, timeoutMode.valueMs));
 	}
 	
 
 	public void setVelocityMeasurementWindow(VelocityMeasurementWindow windowSize) throws CTREException {
-		throwIfNotOk(motorController.configVelocityMeasurementWindow(windowSize.value, timeoutMode.value));
+		throwIfNotOk(motorController.configVelocityMeasurementWindow(windowSize.value, timeoutMode.valueMs));
 	}
 	
 	// #endregion
@@ -326,19 +350,19 @@ public void setVelocityMeasurementWindow(VelocityMeasurementWindow windowSize) t
 
 	public void setForwardLimitSwitchSource(RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID) throws CTREException {
 		throwIfNotOk(
-			motorController.configForwardLimitSwitchSource(type, normalOpenOrClose, deviceID, timeoutMode.value)
+			motorController.configForwardLimitSwitchSource(type, normalOpenOrClose, deviceID, timeoutMode.valueMs)
 		);
 	}
 	
 	public void setReverseLimitSwitchSource(RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID) throws CTREException {
 		throwIfNotOk(
-			motorController.configReverseLimitSwitchSource(type, normalOpenOrClose, deviceID, timeoutMode.value)
+			motorController.configReverseLimitSwitchSource(type, normalOpenOrClose, deviceID, timeoutMode.valueMs)
 		);
 	}
 	
 
 	public void setForwardLimitSwitchSource(LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose) throws CTREException {
-		throwIfNotOk(motorController.configForwardLimitSwitchSource(type, normalOpenOrClose, timeoutMode.value));
+		throwIfNotOk(motorController.configForwardLimitSwitchSource(type, normalOpenOrClose, timeoutMode.valueMs));
 	}
 	
 	// #endregion
@@ -346,11 +370,11 @@ public void setForwardLimitSwitchSource(LimitSwitchSource type, LimitSwitchNorma
 	// #region Forward soft limit
 	
 	public void setForwardSoftLimitThreshold(int threshold) throws CTREException {
-		throwIfNotOk(motorController.configForwardSoftLimitThreshold(threshold, timeoutMode.value));
+		throwIfNotOk(motorController.configForwardSoftLimitThreshold(threshold, timeoutMode.valueMs));
 	}
 
 	public void setForwardSoftLimitEnable(boolean enable) throws CTREException {
-		throwIfNotOk(motorController.configForwardSoftLimitEnable(enable, timeoutMode.value));
+		throwIfNotOk(motorController.configForwardSoftLimitEnable(enable, timeoutMode.valueMs));
 	}
 
 	public void disableForwardSoftLimit() throws CTREException {
@@ -379,12 +403,12 @@ public void setSoftLimit(LimitDirection direction, int threshold, boolean enable
 	 * @param threshold Reverse Sensor Position Limit (in raw sensor units).
 	 */
 	public void setReverseSoftLimitThreshold(int threshold) throws CTREException {
-		throwIfNotOk(motorController.configReverseSoftLimitThreshold(threshold, timeoutMode.value));
+		throwIfNotOk(motorController.configReverseSoftLimitThreshold(threshold, timeoutMode.valueMs));
 	}
 
 
 	public void setReverseSoftLimitEnable(boolean enable) throws CTREException {
-		throwIfNotOk(motorController.configReverseSoftLimitEnable(enable, timeoutMode.value));
+		throwIfNotOk(motorController.configReverseSoftLimitEnable(enable, timeoutMode.valueMs));
 	}
 
 	public void disableReverseSoftLimit() throws CTREException {
@@ -416,19 +440,21 @@ public void setReverseSoftLimit(int threshold, boolean enable) throws CTREExcept
 	// #region Motion Profile Settings used in Motion Magic and Motion Profile
 	
 	/**
+	 * Set the peak velocity in Motion Magic mode
 	 * @param velocity - sensor units / 100ms
 	 * @throws CTREException
 	 */
 	public void setMotionMagicCruiseVelocity(int velocity) throws CTREException {
-		throwIfNotOk(motorController.configMotionCruiseVelocity(velocity, timeoutMode.value));
+		throwIfNotOk(motorController.configMotionCruiseVelocity(velocity, timeoutMode.valueMs));
 	}
 	
 	/**
+	 * Set the acceleration of the Motion Magic controller
 	 * @param acceleration - raw sensor units per 100 ms per second
 	 * @throws CTREException
 	 */
 	public void setMotionMagicAcceleration(int acceleration) throws CTREException {
-		throwIfNotOk(motorController.configMotionAcceleration(acceleration, timeoutMode.value));
+		throwIfNotOk(motorController.configMotionAcceleration(acceleration, timeoutMode.valueMs));
 	}
 	
 	// #endregion
@@ -471,7 +497,7 @@ public MotionProfileStatus getMotionProfileStatus() throws CTREException {
 	}
 	
 	public void clearMotionProfileHasUnderrun() throws CTREException {
-		throwIfNotOk(motorController.clearMotionProfileHasUnderrun(timeoutMode.value));
+		throwIfNotOk(motorController.clearMotionProfileHasUnderrun(timeoutMode.valueMs));
 	}
 	
 	public void setMotionControlFramePeriod(int periodMs) throws CTREException {
@@ -483,11 +509,11 @@ public void setMotionControlFramePeriod(int periodMs) throws CTREException {
 	 * @throws CTREException
 	 */
 	public void setMotionProfileTrajectoryPeriod(int baseTrajectoryDuration) throws CTREException {
-		throwIfNotOk(motorController.configMotionProfileTrajectoryPeriod(baseTrajectoryDuration, timeoutMode.value));
+		throwIfNotOk(motorController.configMotionProfileTrajectoryPeriod(baseTrajectoryDuration, timeoutMode.valueMs));
 	}
 	
 	public void setMotionProfileTrajectoryInterpolation(boolean enable) throws CTREException {
-		throwIfNotOk(motorController.configMotionProfileTrajectoryInterpolationEnable(enable, timeoutMode.value));
+		throwIfNotOk(motorController.configMotionProfileTrajectoryInterpolationEnable(enable, timeoutMode.valueMs));
 	}
 	
 	public void enableMotionProfileTrajectoryInterpolation() throws CTREException {
@@ -503,7 +529,7 @@ public void disableMotionProfileTrajectoryInterpolation() throws CTREException {
 	// #region Feedback Device Integration Settings
 	
 	public void setFeedbackNotContinuous(boolean enable) throws CTREException {
-		throwIfNotOk(motorController.configFeedbackNotContinuous(enable, timeoutMode.value));
+		throwIfNotOk(motorController.configFeedbackNotContinuous(enable, timeoutMode.valueMs));
 	}
 	
 	public void enableFeedbackNotContinuous() throws CTREException {
@@ -516,7 +542,7 @@ public void disableFeedbackNotContinuous() throws CTREException {
 	
 	
 	public void setRemoteSensorClosedLoopDisableNeutralOnLOS(boolean enable) throws CTREException {
-		throwIfNotOk(motorController.configRemoteSensorClosedLoopDisableNeutralOnLOS(enable, timeoutMode.value));
+		throwIfNotOk(motorController.configRemoteSensorClosedLoopDisableNeutralOnLOS(enable, timeoutMode.valueMs));
 	}
 	
 	public void enableRemoteSensorClosedLoopDisableNeutralOnLOS() throws CTREException {
@@ -526,14 +552,20 @@ public void enableRemoteSensorClosedLoopDisableNeutralOnLOS() throws CTREExcepti
 	public void disableRemoteSensorClosedLoopDisableNeutralOnLOS() throws CTREException {
 		setRemoteSensorClosedLoopDisableNeutralOnLOS(false);
 	}
-	
+
+	/**
+	 * Reset selected feedback sensor (encoder) on a limit
+	 * @param direction
+	 * @param clearOnLimit
+	 * @throws CTREException
+	 */
 	public void setClearPositionOnLimit(LimitDirection direction, boolean clearOnLimit) throws CTREException {
 		if (direction == LimitDirection.FORWARD) setClearPositionOnLimitF(clearOnLimit);
 		else if (direction == LimitDirection.REVERSE) setClearPositionOnLimitR(clearOnLimit);
 	}
 	
 	public void setClearPositionOnLimitF(boolean enable) throws CTREException {
-		throwIfNotOk(motorController.configClearPositionOnLimitF(enable, timeoutMode.value));
+		throwIfNotOk(motorController.configClearPositionOnLimitF(enable, timeoutMode.valueMs));
 	}
 	
 	public void enableClearPositionOnLimitF() throws CTREException {
@@ -546,7 +578,7 @@ public void disableClearPositionOnLimitF() throws CTREException {
 	
 	
 	public void setClearPositionOnLimitR(boolean enable) throws CTREException {
-		throwIfNotOk(motorController.configClearPositionOnLimitR(enable, timeoutMode.value));
+		throwIfNotOk(motorController.configClearPositionOnLimitR(enable, timeoutMode.valueMs));
 	}
 	
 	public void enableClearPositionOnLimitR() throws CTREException {
@@ -558,7 +590,7 @@ public void disableClearPositionOnLimitR() throws CTREException {
 	}
 	
 	public void setClearPositionOnQuadIdx(boolean enable) throws CTREException {
-		throwIfNotOk(motorController.configClearPositionOnQuadIdx(enable, timeoutMode.value));
+		throwIfNotOk(motorController.configClearPositionOnQuadIdx(enable, timeoutMode.valueMs));
 	}
 	
 	public void enableClearPositionOnQuadIdx() throws CTREException {
@@ -571,7 +603,7 @@ public void disableClearPositionOnQuadIdx() throws CTREException {
 	
 	
 	public void setLimitSwitchDisableNeutralOnLOS(boolean enable) throws CTREException {
-		throwIfNotOk(motorController.configLimitSwitchDisableNeutralOnLOS(enable, timeoutMode.value));
+		throwIfNotOk(motorController.configLimitSwitchDisableNeutralOnLOS(enable, timeoutMode.valueMs));
 	}
 	
 	public void enableLimitSwitchDisableNeutralOnLOS() throws CTREException {
@@ -584,7 +616,7 @@ public void disableLimitSwitchDisableNeutralOnLOS() throws CTREException {
 	
 	
 	public void setSoftLimitDisableNeutralOnLOS(boolean enable) throws CTREException {
-		throwIfNotOk(motorController.configSoftLimitDisableNeutralOnLOS(enable, timeoutMode.value));
+		throwIfNotOk(motorController.configSoftLimitDisableNeutralOnLOS(enable, timeoutMode.valueMs));
 	}
 	
 	public void enableSoftLimitDisableNeutralOnLOS() throws CTREException {
@@ -597,18 +629,22 @@ public void disableSoftLimitDisableNeutralOnLOS() throws CTREException {
 	
 	
 	public void setPulseWidthPeriodEdgesPerRotation(int edgesPerRotation) throws CTREException {
-		throwIfNotOk(motorController.configPulseWidthPeriod_EdgesPerRot(edgesPerRotation, timeoutMode.value));
+		throwIfNotOk(motorController.configPulseWidthPeriod_EdgesPerRot(edgesPerRotation, timeoutMode.valueMs));
 	}
 	
 	
 	public void setPulseWidthPeriodFilterWindowSamples(int samples) throws CTREException {
-		throwIfNotOk(motorController.configPulseWidthPeriod_EdgesPerRot(samples, timeoutMode.value));
+		throwIfNotOk(motorController.configPulseWidthPeriod_EdgesPerRot(samples, timeoutMode.valueMs));
 	}
 	
 	// #endregion
 
 	// #region Error
-	
+
+	/**
+	 * Get most recent error from motor controller
+	 * @return
+	 */
 	public ErrorCode getLastError() {
 		return motorController.getLastError();
 	}
@@ -627,22 +663,22 @@ public void throwLastError() throws CTREException {
 	// FIXME: 12/28/2019 Need to rewrite PIDProfile.Profile for Talons
 
 	public void setP(PIDProfile.Profile slot, double p) throws CTREException {
-		throwIfNotOk(motorController.config_kP(slot.id, p, timeoutMode.value));
+		throwIfNotOk(motorController.config_kP(slot.id, p, timeoutMode.valueMs));
 	}
 
 
 	public void setI(PIDProfile.Profile slot, double i) throws CTREException {
-		throwIfNotOk(motorController.config_kI(slot.id, i, timeoutMode.value));
+		throwIfNotOk(motorController.config_kI(slot.id, i, timeoutMode.valueMs));
 	}
 
 
 	public void setD(PIDProfile.Profile slot, double d) throws CTREException {
-		throwIfNotOk(motorController.config_kD(slot.id, d, timeoutMode.value));
+		throwIfNotOk(motorController.config_kD(slot.id, d, timeoutMode.valueMs));
 	}
 
 
 	public void setF(PIDProfile.Profile slot, double f) throws CTREException {
-		throwIfNotOk(motorController.config_kF(slot.id, f, timeoutMode.value));
+		throwIfNotOk(motorController.config_kF(slot.id, f, timeoutMode.valueMs));
 	}
 
 	public void setPIDF(PIDProfile.Profile slot, double p, double i, double d, double f) throws CTREException {
@@ -654,16 +690,16 @@ public void setPIDF(PIDProfile.Profile slot, double p, double i, double d, doubl
 
 
 	public void setMaxIntegralAccumulator(PIDProfile.Profile profile, double iaccum) throws CTREException {
-		throwIfNotOk(motorController.configMaxIntegralAccumulator(profile.id, iaccum, timeoutMode.value));
+		throwIfNotOk(motorController.configMaxIntegralAccumulator(profile.id, iaccum, timeoutMode.valueMs));
 	}
 
 	public void setIntegralZone(PIDProfile.Profile profile, int izone) throws CTREException {
-		throwIfNotOk(motorController.config_IntegralZone(profile.id, izone, timeoutMode.value));
+		throwIfNotOk(motorController.config_IntegralZone(profile.id, izone, timeoutMode.valueMs));
 	}
 
 
 	public void setAllowableClosedLoopError(PIDProfile.Profile profile, int allowableError) throws CTREException {
-		throwIfNotOk(motorController.configAllowableClosedloopError(profile.id, allowableError, timeoutMode.value));
+		throwIfNotOk(motorController.configAllowableClosedloopError(profile.id, allowableError, timeoutMode.valueMs));
 	}
 
 
@@ -671,7 +707,7 @@ public void setAllowableClosedLoopError(PIDProfile.Profile profile, int allowabl
 
 
 	public void clearStickyFaults() throws CTREException {
-		throwIfNotOk(motorController.clearStickyFaults(timeoutMode.value));
+		throwIfNotOk(motorController.clearStickyFaults(timeoutMode.valueMs));
 	}
 	
 
@@ -727,10 +763,24 @@ public void enableOverrideSoftLimits() throws CTREException {
 	public void disableOverrideSoftLimits() throws CTREException {
 		setOverrideSoftLimits(false);
 	}
-	
 
+	/**
+	 * Sets a parameter. Generally this is not used. This can be utilized in -
+	 * Using new features without updating API installation. - Errata
+	 * workarounds to circumvent API implementation. - Allows for rapid testing
+	 * / unit testing of firmware.
+	 *
+	 * @param param
+	 *            Parameter enumeration.
+	 * @param value
+	 *            Value of parameter.
+	 * @param subValue
+	 *            Subvalue for parameter. Maximum value of 255.
+	 * @param ordinal
+	 *            Ordinal of parameter.
+	 */
 	public void setParameter(ParamEnum param, double value, int subValue, int ordinal) throws CTREException {
-		throwIfNotOk(motorController.configSetParameter(param, value, subValue, ordinal, timeoutMode.value));
+		throwIfNotOk(motorController.configSetParameter(param, value, subValue, ordinal, timeoutMode.valueMs));
 	}
 
 	public void setDirectionParameterForLimit(LimitDirection direction, double value, int subValue, int ordinal, boolean clearOnLimit) throws CTREException {
@@ -740,7 +790,10 @@ public void setDirectionParameterForLimit(LimitDirection direction, double value
 		}
 	}
 
-	// TODO document
+	/**
+	 * Enum storing different timeout values in ms for construction time
+	 * or runtime updates.
+	 */
 	public enum TimeoutMode {
 		/** Longer timeout, used for constructors */
 		CONSTRUCTING(100),
@@ -748,15 +801,17 @@ public enum TimeoutMode {
 		RUNNING(20),
 		NO_TIMEOUT(0);
 
-		final int value;
+		final int valueMs;
 
-		private TimeoutMode(int value) {
-			this.value = value;
+		private TimeoutMode(int valueMs) {
+			this.valueMs = valueMs;
 		}
 	}
 
-	//TODO document
-	public enum PidIdx{ //FIXME give this a name that reflects w/e it actually does
+	/**
+	 * PID ID Slots: Primary 0; Auxiliary 1
+	 */
+	public enum PidIdx { //FIXME give this a name that reflects w/e it actually does
 		PRIMARY_CLOSED_LOOP(0),
 		AUXILIARY_CLOSED_LOOP(1);
 		
diff --git a/OffSeasonBot2019/src/main/java/com/team2813/lib/talon/TalonWrapper.java b/OffSeasonBot2019/src/main/java/com/team2813/lib/talon/TalonWrapper.java
index a2a2cf7..277269a 100644
--- a/OffSeasonBot2019/src/main/java/com/team2813/lib/talon/TalonWrapper.java
+++ b/OffSeasonBot2019/src/main/java/com/team2813/lib/talon/TalonWrapper.java
@@ -38,28 +38,28 @@ public void disableCurrentLimit() throws CTREException {
 	}
 
 	public void setStatusFramePeriod(StatusFrameEnhanced frame, int periodMs) throws CTREException {
-		throwIfNotOk(motorController.setStatusFramePeriod(frame, periodMs, timeoutMode.value));
+		throwIfNotOk(motorController.setStatusFramePeriod(frame, periodMs, timeoutMode.valueMs));
 	}
 
 	/**
 	 * @param limit Amperes to limit
 	 */
 	public void setContinuousCurrentLimit(int limit) throws CTREException {
-		throwIfNotOk(motorController.configContinuousCurrentLimit(limit, timeoutMode.value));
+		throwIfNotOk(motorController.configContinuousCurrentLimit(limit, timeoutMode.valueMs));
 	}
 
 	/**
 	 * @param limit Amperes to limit
 	 */
 	public void setPeakCurrentLimit(int limit) throws CTREException {
-		throwIfNotOk(motorController.configPeakCurrentLimit(limit, timeoutMode.value));
+		throwIfNotOk(motorController.configPeakCurrentLimit(limit, timeoutMode.valueMs));
 	}
 
 	/**
 	 * @param duration How long to allow current-draw past peak limit. (in milliseconds)
 	 */
 	public void setPeakCurrentDuration(int duration) throws CTREException {
-		throwIfNotOk(motorController.configPeakCurrentDuration(duration, timeoutMode.value));
+		throwIfNotOk(motorController.configPeakCurrentDuration(duration, timeoutMode.valueMs));
 	}
 	
 	//#region Sensor collection wrappers
@@ -77,7 +77,7 @@ public boolean isReverseLimitSwitchClosed() throws CTREException {
 	//#endregion
 
 	public void setReverseLimitSwitchSource(LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose) throws CTREException {
-		throwIfNotOk(motorController.configReverseLimitSwitchSource(type, normalOpenOrClose, timeoutMode.value));
+		throwIfNotOk(motorController.configReverseLimitSwitchSource(type, normalOpenOrClose, timeoutMode.valueMs));
 	}
 
 	public void setLimitSwitchSource(LimitDirection direction, LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose) throws CTREException {