Javadoc formatting

.github/workflows/main.yml

@@ -18,7 +18,7 @@ jobs:
     runs-on: ubuntu-latest
 
     # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    container: wpilib/roborio-cross-ubuntu:2025-24.04
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:

build.gradle

@@ -202,7 +202,7 @@ tasks.spotbugsMain {
     }
 }
 
-//Javadoc Gradle task configuation
+// Javadoc Gradle task configuation
 javadoc {
     options.addStringOption('Xdoclint:none', '-quiet')
     failOnError = false

gradle.properties

@@ -0,0 +1 @@
+org.gradle.caching=true

src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java

@@ -110,7 +110,7 @@ public void run() {
     /**
      * Starts the given commands whenever the condition changes from `false` to `true`.
      *
-     * @param command the command to start
+     * @param commands the commands to start
      * @return this trigger, so calls can be chained
      */
     public Trigger onTrue(Command... commands) {
@@ -276,7 +276,7 @@ public void run() {
      * <p>Doesn't re-start the command if it ends while the condition is still `true`. If the
      * command should restart, see {@link edu.wpi.first.wpilibj2.command.RepeatCommand}.
      *
-     * @param command the command to start
+     * @param commands the commands to start
      * @return this trigger, so calls can be chained
      */
     public Trigger whileTrue(Command... commands) {
@@ -422,9 +422,10 @@ public void run() {
     /**
      * Run a command while true. Also runs a command for a certain timeout when released.
      *
-     * @param trigger
-     * @param runCommand
-     * @param endCommand
+     * @param runCommand the command to run while the trigger is true
+     * @param endCommand the command to run when the trigger becomes false
+     * @param endTimeout the timeout for the end command
+     * @return this trigger, so calls can be chained
      */
     public Trigger runWithEndSequence(Command runCommand, Command endCommand, double endTimeout) {
         this.whileTrue(runCommand);

src/main/java/frc/reefscape/FieldHelpers.java

@@ -144,8 +144,8 @@ public static int indexOfSmallest(double[] array) {
     /**
      * Converts an index to a reef tag ID
      *
-     * @param index
-     * @return
+     * @param index The reef index (0-5)
+     * @return The corresponding reef tag ID (17-22)
      */
     public static int indexToReefTagID(int index) {
         return index + 17;
@@ -154,8 +154,8 @@ public static int indexToReefTagID(int index) {
     /**
      * Converts a given Reef Tag Id into index form for center faces to pull from
      *
-     * @param tagID
-     * @return
+     * @param tagID The blue reef tag ID (17-22)
+     * @return The reef index (0-5), or -1 if invalid
      */
     public static int blueReefTagIDToIndex(int tagID) {
 
@@ -170,8 +170,8 @@ public static int blueReefTagIDToIndex(int tagID) {
     /**
      * Converts a blue reef tag ID to a red reef tag ID
      *
-     * @param blueTagID
-     * @return
+     * @param blueTagID The blue alliance reef tag ID (17-22)
+     * @return The corresponding red alliance reef tag ID (6-11)
      */
     public static int blueToRedTagID(int blueTagID) {
         switch (blueTagID) {
@@ -214,8 +214,8 @@ public static int redToBlueTagID(int redTagID) {
     /**
      * Returns the reef tag ID based on the robot's pose
      *
-     * @param pose
-     * @return
+     * @param pose The robot's current pose on the field
+     * @return The reef tag ID corresponding to the robot's zone
      */
     public static int getReefZoneTagID(Pose2d pose) {
         pose = flipIfRedSide(pose);
@@ -235,8 +235,8 @@ public static int getReefZoneTagID(Pose2d pose) {
      * Returns the reef index zone based on the robot's pose changed to blue pose including the
      * center is consistently blue center
      *
-     * @param pose
-     * @return
+     * @param pose The robot's current pose on the field
+     * @return The reef zone index (0-5)
      */
     public static int getReefZone(Pose2d pose) {
         Translation2d point = pose.getTranslation();
@@ -327,8 +327,9 @@ public static Pose2d getOffsetPosition(int tagID, double offsetMeters, double of
      * Converts a target angle into a reverse rotation if the back is closer; otherwise, returns the
      * original target angle for front heading.
      *
-     * <p>variable robotAngle The current angle of the robot in radians. variable reefRotation The
-     * rotation adjustment factor in radians. targetAngle The desired target angle in radians.
+     * <p>The method considers: robotAngle - The current angle of the robot in radians. reefRotation
+     * - The rotation adjustment factor in radians. targetAngle - The desired target angle in
+     * radians.
      *
      * @return true/false if robot heading is reversed to reef face
      */
@@ -370,7 +371,7 @@ public static boolean reverseRotationBlue() {
     /**
      * Returns the reef face pose based on the tag ID sent from either red or blue
      *
-     * @param tagID
+     * @param tagID The reef tag ID
      * @return Pose2d of reef side
      */
     public static Pose2d getReefSideFromTagID(int faceIndex) {
@@ -392,7 +393,7 @@ public static Pose2d getReefSideFromTagID(int faceIndex) {
      *
      * @param blueReefTagID may also be a red reef tag ID that will later be converted from a blue
      *     reef tagID
-     * @return
+     * @return The calculated scoring pose for the robot
      */
     public static Pose2d getScorePoseFromTagID(int blueReefTagID) {
         if (blueReefTagID < 0 || blueReefTagID > 22 || blueReefTagID == 16) {
@@ -414,12 +415,12 @@ public static double getTagAngleOffset(int tagID) {
     }
 
     /**
-     * Method gets
+     * Gets the pose offset from a tag position
      *
-     * @param tagID
-     * @param distanceAway
-     * @param centerOffset
-     * @return
+     * @param tagID The AprilTag ID
+     * @param distanceAway The distance away from the tag in meters
+     * @param centerOffset The offset from the center in meters
+     * @return The calculated pose offset from the tag
      */
     public static Pose2d getXYOffsetFromTag(int tagID, double distanceAway, double centerOffset) {
         Pose2d tagPose;
@@ -456,7 +457,7 @@ public static double getReefOffsetFromTagY() {
     /**
      * Get the angle the robot should turn to based on the id the limelight is seeing.
      *
-     * @return
+     * @return The target angle in degrees
      */
     public static double getReefTagAngle() {
         double[][] reefFrontAngles = {

src/main/java/frc/reefscape/TagProperties.java

@@ -13,16 +13,16 @@ public class TagProperties {
     @Getter private final double angle;
 
     /**
-     * @param frontOffsetInchesLeft
-     * @param frontOffsetInchesRight
-     * @param rearOffsetInchesLeft
-     * @param rearOffsetInchesRight
-     * @param frontCenterOffsetInchesLeft
-     * @param frontCenterOffsetInchesRight
-     * @param rearCenterOffsetInchesLeft
-     * @param rearCenterOffsetInchesRight
-     * @param taGoal
-     * @param angle
+     * @param frontOffsetInchesLeft Front offset in inches for left side
+     * @param frontOffsetInchesRight Front offset in inches for right side
+     * @param rearOffsetInchesLeft Rear offset in inches for left side
+     * @param rearOffsetInchesRight Rear offset in inches for right side
+     * @param frontCenterOffsetInchesLeft Front center offset in inches for left side
+     * @param frontCenterOffsetInchesRight Front center offset in inches for right side
+     * @param rearCenterOffsetInchesLeft Rear center offset in inches for left side
+     * @param rearCenterOffsetInchesRight Rear center offset in inches for right side
+     * @param taGoal Target area goal
+     * @param angleDegrees Angle in degrees
      */
     public TagProperties(
             double frontOffsetInchesLeft,

src/main/java/frc/reefscape/Zones.java

@@ -69,11 +69,11 @@ public class Zones {
     /**
      * Depending on the offsets file used, change the tag offsets here.
      *
-     * <p>getTagOffset automatically checks if the offset taken is < 0 or greater than the given tag
-     * limit. If the tag is blue (> 16), it subtracts 17 from the given tag
+     * <p>getTagOffset automatically checks if the offset taken is &lt; 0 or greater than the given
+     * tag limit. If the tag is blue (&gt; 16), it subtracts 17 from the given tag
      *
-     * @param tag
-     * @return
+     * @param tag The AprilTag ID
+     * @return The distance offset for the tag in meters
      */
     public double getTagOffset(int tag) {
         return offsets.getReefTagDistanceOffset(tag);

src/main/java/frc/reefscape/offsets/StateChampsOffsets.java

@@ -58,8 +58,8 @@ public class StateChampsOffsets {
     /**
      * Converts inches to meters and adds half the robot length to the offset
      *
-     * @param offsetInches
-     * @return
+     * @param offsetInches The offset distance in inches
+     * @return The offset distance in meters including half robot length
      */
     private static double meterConverter(double offsetInches) {
         double meterConversion = Units.inchesToMeters(offsetInches);

src/main/java/frc/robot/swerve/Swerve.java

@@ -213,9 +213,9 @@ public Trigger inYzone(double minYmeter, double maxYmeter) {
      * This method is used to check if the robot is in the X zone of the field flips the values if
      * Red Alliance
      *
-     * @param minXmeter
-     * @param maxXmeter
-     * @return
+     * @param minXmeter Minimum X coordinate in meters
+     * @param maxXmeter Maximum X coordinate in meters
+     * @return Trigger that is true when robot is within the X zone
      */
     public Trigger inXzoneAlliance(double minXmeter, double maxXmeter) {
         return new Trigger(
@@ -230,9 +230,9 @@ public Trigger inXzoneAlliance(double minXmeter, double maxXmeter) {
      * This method is used to check if the robot is in the Y zone of the field flips the values if
      * Red Alliance
      *
-     * @param minYmeter
-     * @param maxYmeter
-     * @return
+     * @param minYmeter Minimum Y coordinate in meters
+     * @param maxYmeter Maximum Y coordinate in meters
+     * @return Trigger that is true when robot is within the Y zone
      */
     public Trigger inYzoneAlliance(double minYmeter, double maxYmeter) {
         return new Trigger(

src/main/java/frc/robot/vision/Vision.java

@@ -645,7 +645,7 @@ private boolean rejectionCheck(Pose2d pose, double targetSize) {
     /**
      * Choose the limelight with the best view of multiple tags
      *
-     * @return
+     * @return The Limelight with the best scoring view
      */
     public Limelight getBestLimelight() {
         Limelight bestLimelight = frontLL;
@@ -732,7 +732,7 @@ public boolean resetPoseToVision(
     /**
      * If at least one LL has an accurate pose
      *
-     * @return
+     * @return True if at least one Limelight has an accurate pose
      */
     public boolean hasAccuratePose() {
         for (Limelight limelight : allLimelights) {

src/main/java/frc/spectrumLib/SpectrumState.java

@@ -108,7 +108,7 @@ public Command toggleToTrue() {
      * Command to set state to true, and then to false, ensuring your state will trigger change to
      * false actions
      *
-     * @return
+     * @return Command that toggles state to false
      */
     public Command toggleToFalse() {
         return setTrue()
@@ -119,8 +119,8 @@ public Command toggleToFalse() {
     }
 
     /**
-     * @param value
-     * @return
+     * @param value The boolean value to set the state to
+     * @return Command that sets the state
      */
     public Command set(boolean value) {
         return Commands.runOnce(() -> setState(value)).ignoringDisable(true);

src/main/java/frc/spectrumLib/gamepads/Gamepad.java

@@ -104,11 +104,16 @@ public Config(String name, int port) {
     /**
      * Constructs a Gamepad object with the specified configuration.
      *
+     * <p>The constructor initializes the following:
+     *
+     * <ul>
+     *   <li>Superclass with port and attachment status from the configuration
+     *   <li>Curve objects for left stick, right stick, and triggers using exponential curves
+     *   <li>If the gamepad is attached, initializes the Xbox controller and its buttons, triggers,
+     *       sticks, and D-pad
+     * </ul>
+     *
      * @param config the configuration object containing settings for the gamepad
-     *     <p>The constructor initializes the following: - Superclass with port and attachment
-     *     status from the configuration. - Curve objects for left stick, right stick, and triggers
-     *     using exponential curves. - If the gamepad is attached, initializes the Xbox controller
-     *     and its buttons, triggers, sticks, and D-pad.
      */
     protected Gamepad(Config config) {
         this.config = config;
@@ -283,7 +288,7 @@ public double getRightStickMagnitude() {
     /**
      * Get proper stick angles for each alliance
      *
-     * @return
+     * @return The cardinal direction angle in radians
      */
     public double chooseCardinalDirections() {
         // hotfix
@@ -319,7 +324,7 @@ else if (stickAngle < -Math.PI / 8 && stickAngle >= -3 * Math.PI / 8) {
     /**
      * Flips the stick direction for the red alliance.
      *
-     * @return
+     * @return The cardinal direction angle in radians for red alliance
      */
     public double getRedAllianceStickCardinals() {
         double stickAngle = getRightStickDirection().getRadians();

src/main/java/frc/spectrumLib/mechanism/Mechanism.java

@@ -39,7 +39,7 @@
 /**
  * Control Modes Docs:
  * https://pro.docs.ctr-electronics.com/en/latest/docs/migration/migration-guide/control-requests-guide.html
- * Closed-loop & Motion Magic Docs:
+ * Closed-loop and Motion Magic Docs:
  * https://pro.docs.ctr-electronics.com/en/latest/docs/migration/migration-guide/closed-loop-guide.html
  */
 public abstract class Mechanism implements NTSendable, SpectrumSubsystem {
@@ -232,7 +232,7 @@ public Trigger aboveCurrent(DoubleSupplier target, DoubleSupplier tolerance) {
     /**
      * Update the value of the stator current for the motor
      *
-     * @return
+     * @return The current stator current value in amps
      */
     public double updateCurrent() {
         if (config.attached) {
@@ -259,7 +259,8 @@ public double getVoltage() {
     /**
      * Percentage to Rotations
      *
-     * @return
+     * @param percent The percentage value supplier
+     * @return The equivalent rotation count
      */
     public double percentToRotations(DoubleSupplier percent) {
         return (percent.getAsDouble() / 100) * config.maxRotations;
@@ -268,8 +269,8 @@ public double percentToRotations(DoubleSupplier percent) {
     /**
      * Rotations to Percentage
      *
-     * @param rotations
-     * @return
+     * @param rotations The rotation count supplier
+     * @return The equivalent percentage value
      */
     public double rotationsToPercent(DoubleSupplier rotations) {
         return (rotations.getAsDouble() / config.maxRotations) * 100;
@@ -361,8 +362,8 @@ public Command runVelocity(DoubleSupplier velocityRPM) {
     /**
      * Run the mechanism at given velocity rpm in TorqueCurrentFOC mode
      *
-     * @param velocityRPM
-     * @return
+     * @param velocityRPM The target velocity in RPM
+     * @return Command that runs the mechanism at the specified velocity
      */
     public Command runVelocityTcFocRpm(DoubleSupplier velocityRPM) {
         return run(() -> setVelocityTorqueCurrentFOC(() -> Conversions.RPMtoRPS(velocityRPM)))
@@ -509,7 +510,7 @@ protected void setVelocityTorqueCurrentFOC(DoubleSupplier velocityRPS) {
     /**
      * Closed-loop Velocity with torque control (requires Pro)
      *
-     * @param velocity rotations per second
+     * @param velocityRPS rotations per second
      */
     protected void setVelocityTCFOCrpm(DoubleSupplier velocityRPS) {
         if (isAttached()) {