Commenting step 1

src/main/java/frc/robot/Constants.java

@@ -154,4 +154,9 @@ public class RobotVersion2024 implements RobotVersionConstants {
   }
 
   public static final RobotVersion defaultRobotVersion = RobotVersion.v2024;
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 1;
+  }
 }

src/main/java/frc/robot/Other/Explanations.java

@@ -0,0 +1,92 @@
+package frc.robot.Other;
+
+import frc.robot.subsystems.*;
+import frc.robot.Constants;
+import frc.robot.Robot;
+import frc.robot.RobotContainer;
+import frc.robot.commands.*;
+
+/**
+ * Here, Explanations of How everything works are held.
+ *
+ * <p>When Within The class:
+ *
+ * <p>{@code - Hover over the Green Part to Get a basic explanation}
+ *
+ * <p>{@code - Hover over the Yellow Part for a More Detailed explanation}
+ *
+ * <p>{@code - Hover over The Blue Part to find what your getting an Explanation of}
+ *
+ * <p>EX: int {@link #DriveTrainExplanation} (Blue) = {@link DriveTrain} (Green) {@link
+ * DriveTrain#Explanation} (Yellow)
+ *
+ * <p>Sub Explanations are down Below:
+ *
+ * <ul>
+ *   <li>Init Sendable:
+ *       <ul>
+ *         <li>Sendable objects are things that can be sent to the smart dashboard (WHEN TALKING
+ *             ABOUT FRC!!!!).
+ *         <li>Initializing a sendable object sends that object to the smart dashboard.
+ *         <li>To send other things to the smart dashboard, Use the sendable builder (the thing that
+ *             sends stuff)
+ *         <li>EX: {@link Hanger#initSendable} and {@link DriveTrain#initSendable}
+ *         <li>In order to send variables, you must do {@code builder.addDoubleProperty} (Instead of
+ *             Double do variable type of choice)
+ *       </ul>
+ */
+public class Explanations {
+
+  public abstract class SubsystemExplanations {
+
+    int DriveTrainExplanation = DriveTrain.Explanation();
+
+    int HangerExplanation = Hanger.Explanation();
+
+    int HangerModuleExplanation = HangerModule.Explanation();
+
+    int IntakeExplanation = Intake.Explanation();
+
+    int IntakeWheelsExplanation = IntakeWheels.Explanation();
+
+    int LimelightExplanation = Limelight.Explanation();
+
+    int ShooterExplanation = Shooter.Explanation();
+
+    int SwerveModuleExplanation = SwerveModule.Explanation();
+  }
+
+  public abstract class RobotExplanations {
+
+    int ConstantsExplanation = Constants.Explanation();
+
+    int RobotExplanation = Robot.Explanation();
+
+    int RobotContainerExplanation = RobotContainer.Explanation();
+
+    // Main.java Is where we initialize our robot.
+    // It is told which code based (Timed or Command Based or Custom) via the Robot.java class (As
+    // seen in the Main File)
+    // DO NOT CREATE ANYTHING IN MAIN.JAVA
+
+  }
+
+  public abstract class CommandExplanation {
+
+    int AprilAlignToSpeakerRadiallyCommandExplanation =
+        AprilAlignToSpeakerRadiallyCommand.Explanation();
+
+    int AprilAlignToTransformCommandExplanation = AprilAlignToTransformCommand.Explanation();
+
+    int AutoIntakeExplanation = AutoIntake.Explanation();
+
+    int AutoShooterExplanation = AutoShooter.Explanation();
+
+    int OrientShooterAngleExplanation = OrientShooterAngle.Explanation();
+
+    int OrientShooterAngleByEncoderValueExplanation =
+        OrientShooterAngleByEncoderValue.Explanation();
+
+    int SwerveDriveCommandExplanation = SwerveDriveCommand.Explanation();
+  }
+}

src/main/java/frc/robot/Robot.java

@@ -74,4 +74,9 @@ public void simulationInit() {}
 
   @Override
   public void simulationPeriodic() {}
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 2;
+  }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -320,4 +320,9 @@ public Command getAutonomousCommand() {
     return autoCommand.beforeStarting(
         () -> m_DriveTrain.resetPose(new Pose2d(1.27, 5.55, new Rotation2d())));
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 3;
+  }
 }

src/main/java/frc/robot/commands/AprilAlignToSpeakerRadiallyCommand.java

@@ -147,4 +147,9 @@ public boolean RobotIsWithinGoalRadius() {
   public boolean isFinished() {
     return omegaController.atGoal() && RobotIsWithinGoalRadius();
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 1;
+  }
 }

src/main/java/frc/robot/commands/AprilAlignToTransformCommand.java

@@ -144,4 +144,9 @@ public void end(boolean interrupted) {
   public boolean isFinished() {
     return m_rotController.atGoal() && m_xController.atGoal() && m_yController.atGoal();
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 2;
+  }
 }

src/main/java/frc/robot/commands/AutoIntake.java

@@ -54,35 +54,7 @@ public void SetIsAmpFlag(boolean isAmp) {}
 
   @Override
   public void execute() {
-    // System.out.println(m_CurrentIntakeDrivingState);
-    /*
-     * if (m_IsAmp == true) {
-     * m_CurrentIntakeDrivingState = DrivingState.DriveIntakeAmp;
-     * if (m_Intake.GetIntakeMotorAngle().getDegrees() < Intake.PosAmpAngle +
-     * s_IntakePositioningTolerence) {
-     * m_Intake.RaiseIntake();
-     * } else if (m_Intake.GetIntakeMotorAngle().getDegrees() > Intake.PosAmpAngle -
-     * s_IntakePositioningTolerence) {
-     * m_Intake.LowerIntake();
-     * } else if (m_Intake.GetIntakeMotorAngle().getDegrees() < Intake.PosAmpAngle +
-     * s_IntakePositioningTolerence
-     * && m_Intake.GetIntakeMotorAngle().getDegrees() > Intake.PosAmpAngle -
-     * s_IntakePositioningTolerence) {
-     * m_Intake.StopIntake();
-     * m_CommandIsFinished = true;
-     * }
-     *
-     * }
-     *
-     *
-     *
-     *
-     *
-     *
-     * else
-     */
     if (m_CurrentIntakeDrivingState == DrivingState.DriveIntakeDown) {
-      // if (m_Intake.GetIntakeMotorAngle().getDegrees() < Intake.PosDownAngle) {
       if (m_Intake.GetIntakeMotorAngle().getDegrees() < Intake.PosDownAngle - 40) {
         m_Intake.LowerIntake();
       } else {
@@ -118,31 +90,9 @@ public void end(boolean interrupted) {
   public boolean isFinished() {
     return m_CommandIsFinished;
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 3;
+  }
 }
-/*
- * CurrentIntakePose = m_Intake.GetIntakeMotorAngle().getDegrees();
- * if (m_Intake.IntakePos == 1){
- * TargetDeg = Pos1;
- * if (CurrentIntakePose > TargetDeg + IntakeTolerence){
- * if (CurrentIntakePose > StaticSetpointDeg){
- * m_Intake.intakeAngleMtr.set(-.25);
- * } else {
- * m_Intake.intakeAngleMtr.set(-.45);
- * }
- * } else{
- * m_Intake.intakeAngleMtr.set(0);
- * m_Intake.intakeAngleMtrEnc.setPosition(0);
- * }
- * }
- *
- * if (m_Intake.IntakePos == 2){
- * TargetDeg = Pos2;
- * if (CurrentIntakePose < TargetDeg - IntakeTolerence){
- * m_Intake.intakeAngleMtr.set(.17);
- * }
- * else {
- * m_Intake.intakeAngleMtr.set(0);
- * }
- * }
- *
- */

src/main/java/frc/robot/commands/AutoShooter.java

@@ -96,4 +96,9 @@ public void end(boolean interrupted) {
   public boolean isFinished() {
     return m_aprilAlignCommand.isFinished() && m_orientShooterAngleCommand.getController().atGoal();
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 4;
+  }
 }

src/main/java/frc/robot/commands/OrientShooterAngle.java

@@ -108,4 +108,9 @@ public boolean isFinished() {
     return false;
     return getController().atGoal();
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 5;
+  }
 }

src/main/java/frc/robot/commands/OrientShooterAngleByEncoderValue.java

@@ -61,4 +61,9 @@ public void end(boolean interrupted) {
   public boolean isFinished() {
     return getController().atGoal();
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 6;
+  }
 }

src/main/java/frc/robot/commands/SwerveDriveCommand.java

@@ -111,4 +111,9 @@ public void end(boolean interrupted) {}
   public boolean isFinished() {
     return false;
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 7;
+  }
 }

src/main/java/frc/robot/subsystems/DriveTrain.java

@@ -19,7 +19,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-/** Represents a swerve drive style drivetrain. */
+/** */
 public class DriveTrain extends SubsystemBase {
 
   public SwerveDriveKinematics m_kinematics =
@@ -69,10 +69,15 @@ public class DriveTrain extends SubsystemBase {
   /**
    * Our driveTrain Constructor.
    *
-   * <p>In here, we initialize our swerve modules (example -> {@link #m_frontLeft}), Get input from
-   * autonomous and initialize our odometry -> {@link #m_odometry}.
+   * <p>In here, we:
    *
-   * <p>Various other DriveTrain Related thing are initalized here too.
+   * <ul>
+   *   <li>Initialize our swerve modules (EX: {@link #m_frontLeft})
+   *   <li>Set up our autonomous builder (see below)
+   *   <li>Initialize our odometry: {@link #m_odometry}.
+   * </ul>
+   *
+   * <p>Various other DriveTrain Related things are initalized here too.
    *
    * @param RobotVersion
    */
@@ -292,7 +297,7 @@ public void driveChassisSpeeds(ChassisSpeeds chassisSpeed) {
   /**
    * Resets the Position of the Odometer, given our Current position.
    *
-   * @param Pose2d (pose2d) - The current position of the robot on the field. This is a {@link
+   * @param pose2d (pose2d) - The current position of the robot on the field. This is a {@link
    *     #resetOdometry(Pose2d)}
    */
   public void resetPose(Pose2d pose2d) {
@@ -425,4 +430,9 @@ public void initSendable(SendableBuilder builder) {
     m_backLeft.initSendable(builder);
     m_backRight.initSendable(builder);
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 1;
+  }
 }