Feature/comments

2022 Season/src/main/java/frc/robot/Lib/InterpolationTable.java

@@ -10,12 +10,21 @@ public class InterpolationTable {
     private final double[][] referencePoints;
     private final int propertyCount;
 
+    /**
+     * Constructor for the InterpolationTable
+     * @param referencePoints - The reference points to put into the interpolation table
+     */
     public InterpolationTable(double[][] referencePoints) {
         Arrays.sort(referencePoints, INPUT_SORTER);
         this.referencePoints = referencePoints;
         propertyCount = referencePoints[0].length - 1;
     }
 
+    /**
+     * Loops through the reference points and gets the desired list based on the input
+     * @param input - Input used to determine the desired list
+     * @return - Desired list of reference points
+     */
     public double[] sample(double input) {
         int leftBoundIndex = 0;
         int rightBoundIndex = referencePoints.length - 1;
@@ -54,6 +63,14 @@ public double[] sample(double input) {
         return outputs;
     }
 
+    /**
+     * Returns a new output by calculating the interpolation between the two points
+     * @param input - The input used to determine the interpolation
+     * @param outputProperty - Index used to calculate the slope of point1 and point2
+     * @param point1 - List of the first point
+     * @param point2 - List of the second point
+     * @return - new interpolated value.
+     */
     private double interpolate(double input, int outputProperty, double[] point1, double[] point2) {
         outputProperty++;
         double slope = (point2[outputProperty] - point1[outputProperty]) / (point2[0] - point1[0]);

2022 Season/src/main/java/frc/robot/Lib/Photoeye.java

@@ -3,12 +3,19 @@
 import edu.wpi.first.wpilibj.DigitalInput;
 
 public class Photoeye extends DigitalInput {
-
+    /**
+     * Constructor for the Photoeye
+     * @param port - Port to read the photoeye digital input from
+     */
     public Photoeye(int port)
     {
         super(port);
     }
 
+    /**
+     * Get the state of the photoeye
+     * @return true | false
+     */
     public boolean isBlocked()
     {
         return !this.get();

2022 Season/src/main/java/frc/robot/Subsystems/Climber.java

@@ -62,6 +62,9 @@ public Climber(){
         _climbTarget = Constants.kClimbPullUpPosition;
     }
 
+    /**
+     * Resets the climber encoder only if the limitSwitch is pressed
+     */
     public void resetClimbEncoder()
     {
         if (isLimitSwitchPressed())
@@ -70,22 +73,36 @@ public void resetClimbEncoder()
         }
     }
 
+    /**
+     * Checks if climber limit switch is pressed
+     * @return - <strong> true </strong> if limit switch is pressed 
+     */
     public boolean isLimitSwitchPressed()
     {
         return _climbLimitSwitch.isPressed();
     }
 
+    /**
+     * Sets a new climberTarget based on the position provided
+     * @param position - Position to set climberTarget to
+     */
     public void setClimbPosition(double position)
     {
         _climbTarget = position;
     }
 
+    /**
+     * Sets the left and right climber motor to -1
+     */
     public void extend()
     {
         _leftClimbMotor.set(-1);
         _rightClimbMotor.set(-1);
     }
 
+    /**
+     * Moves both the left and right climber motors respectively based on the value of the climberEncoder
+     */
     public void climb()
     {
         if (_climbEncoder.get() <= 1) {
@@ -97,53 +114,85 @@ public void climb()
         }
     }
 
+    /**
+     * Stops moving the climber motors
+     */
     public void stopClimb()
     {
         _leftClimbMotor.set(0);
         _rightClimbMotor.set(0);
     }
 
+    /**
+     * Checks if the climberEncoder value is greater than or equals to the climberTarget values
+     * @return - <strong> true </strong> if the climberTarger has been reached or passed
+     */
     public boolean isExtendFinished()
     {
         return _climbEncoder.get() >= _climbTarget;
     }
 
+    /**
+     * Sets the speed of both the left and right climber motors
+     * @param speed - Speed you would like to set the climber motors
+     */
     public void setClimberMotor(double speed)
     {
         _leftClimbMotor.set(speed);
         _rightClimbMotor.set(speed);
     }
 
+    /**
+     * Sets the climber forward
+     */
     public void setClimberForward()
     {
         _climber.set(Value.kForward);
     }
 
+    /**
+     * Sets the climber in reverse
+     */
     public void setClimberReverse()
     {
         _climber.set(Value.kReverse);
     }
 
+    /**
+     * Sets the climber off
+     */
     public void setClimberOff()
     {
         _climber.set(Value.kOff);
     }
 
+    /**
+     * Sets the ratchet in reverse
+     */
     public void engageRatchet()
     {
         _ratchet.set(Value.kReverse);
     }
 
+    /**
+     * Sets the ratchet forward
+     */
     public void disengageRatchet()
     {
         _ratchet.set(Value.kForward);
     }
 
+    /**
+     * Sets the ratchet off
+     */
     public void setRatchetOff()
     {
         _climber.set(Value.kOff);
     }
 
+    /**
+     * Logs the data of the climber to the SmartDashboard
+     */
     public void LogTelemetry() {
         // TODO Auto-generated method stub
 
@@ -153,6 +202,9 @@ public void LogTelemetry() {
         SmartDashboard.putNumber("rightClimbCurrent", _rightClimbMotor.getOutputCurrent());
     }
 
+    /**
+     * Reads the data of the climber from the SmartDashboard... This function is not implemented yet
+     */
     public void ReadDashboardData() {
         // TODO Auto-generated method stub
 

2022 Season/src/main/java/frc/robot/Subsystems/Collector.java

@@ -30,6 +30,10 @@ public class Collector implements ISubsystem {
     private boolean _bottomChamberState = false;
     private boolean _topChamberState = false;
 
+    /**
+     * Get the Collector instance
+     * @return - Instance of collector
+     */
     public static Collector GetInstance()
     {
         if (_instance == null)
@@ -39,6 +43,9 @@ public static Collector GetInstance()
         return _instance;
     }
 
+    /**
+     * Constructor for the Collector
+     */
     public Collector() 
     { 
         _collectorMotor = new CANSparkMax(Constants.kCollectMotorDeviceId, MotorType.kBrushless);
@@ -72,11 +79,17 @@ public void stopCollect() {
         _collectorMotor.set(0.0);
     }
 
+    /**
+     * Stops the collector chamber back and front motors
+     */
     public void stopChamber() {
         _frontChamberMotor.set(0.0);
         _backChamberMotor.set(0.0);
     }
 
+    /**
+     * Moves the collector chamber back and front motors, to collect the cargo
+     */
     public void intake() {
         _collectorSolenoid.set(true);
         _collectorMotor.set(-_collectorSpeed);
@@ -86,17 +99,27 @@ public void intake() {
             _backChamberMotor.set(-_chamberSpeed);
         }
     }
+
+    /**
+     * Moves the collector motors, to spit the cargo
+     */
     public void spit() {
         _collectorMotor.set(_collectorSpeed);
     }
 
+    /**
+     * Moves the collector chamber back and front motors, to eject the cargo
+     */
     public void eject() {
         _collectorSolenoid.set(true);
         _collectorMotor.set(_collectorSpeed);
         _frontChamberMotor.set(_chamberSpeed);
         _backChamberMotor.set(-_chamberSpeed);
     }
 
+    /**
+     * Moves the cargo using the front and back chamber motors, and increase ball count accordingly 
+     */
     public void feed() {
         _frontChamberMotor.set(-_chamberSpeed);
         _backChamberMotor.set(_chamberSpeed);
@@ -119,11 +142,18 @@ public void feed() {
         _bottomChamberState = _chamberBottomSensor.isBlocked();
     }
 
+    /**
+     * Sets the ballCount in the collector based on the {@param ballCount}
+     * @param ballCount - The number of balls in the collector
+     */
     public void setBallCount(int ballCount)
     {
         _ballCount = ballCount;
     }
 
+    /**
+     * Runs mutiple if conditions that determine the ball count and whether or not the chamber will stopped
+     */
     public void index()
     {
         if (_chamberTopSensor.isBlocked())
@@ -156,19 +186,31 @@ public void index()
         _bottomChamberState = _chamberBottomSensor.isBlocked();
     }
 
+    /**
+     * Moves the collected front and back motors in the negative direction of the chamber speed.
+     */
     public void chamberUp() {
         _frontChamberMotor.set(-_chamberSpeed);
         _backChamberMotor.set(-_chamberSpeed);
     }
 
+    /**
+     * Sets the collector solenoid output to true
+     */
     public void collectorDown() {
         _collectorSolenoid.set(true);
     }
 
+    /**
+     * Sets the collector solenoid output to false
+     */
     public void collectorUp() {
         _collectorSolenoid.set(false);
     }
 
+    /**
+     * Logs collector data into the SmartDashboard
+     */
     public void LogTelemetry() {
         // TODO Auto-generated method stub
 
@@ -181,6 +223,9 @@ public void LogTelemetry() {
         SmartDashboard.putNumber("ballCount", _ballCount);
     }
 
+    /**
+     * Reads collector data from SmartDashboard... At the moment this function is not implemented
+     */
     public void ReadDashboardData() {
         // TODO Auto-generated method stub