From edcab41c2e6543c1c353e5d4719dc9aca4bd7025 Mon Sep 17 00:00:00 2001
From: VincentShao32 <yunbo2016@gmail.com>
Date: Mon, 29 Jan 2024 17:51:29 -0800
Subject: [PATCH] documentation updates

---
 .../java/frc/robot/commands/SetPivot.java     |  2 +-
 .../java/frc/robot/commands/SmartIntake.java  |  2 --
 .../frc/robot/subsystems/IntakeShooter.java   |  2 +-
 src/main/java/frc/robot/subsystems/Pivot.java | 25 +++++++++++++++++--
 4 files changed, 25 insertions(+), 6 deletions(-)

diff --git a/src/main/java/frc/robot/commands/SetPivot.java b/src/main/java/frc/robot/commands/SetPivot.java
index 084b14a..a109fdc 100644
--- a/src/main/java/frc/robot/commands/SetPivot.java
+++ b/src/main/java/frc/robot/commands/SetPivot.java
@@ -33,7 +33,7 @@ public void execute() {
         s_Pivot.setVoltage(voltage);
     }
 
-    	@Override
+    @Override
 	public boolean isFinished() {
 		return Math.abs(s_Pivot.getSetPoint() - s_Pivot.getCANcoderPosition()) < 45;
 	}
diff --git a/src/main/java/frc/robot/commands/SmartIntake.java b/src/main/java/frc/robot/commands/SmartIntake.java
index 723aa85..4763456 100644
--- a/src/main/java/frc/robot/commands/SmartIntake.java
+++ b/src/main/java/frc/robot/commands/SmartIntake.java
@@ -6,12 +6,10 @@
 public class SmartIntake extends Command{
 
     private final IntakeShooter s_IntakeShooter;
-    private boolean finished;
 
     public SmartIntake(){
         s_IntakeShooter = IntakeShooter.getInstance();
         addRequirements(s_IntakeShooter);
-        finished = false;
     }
 
     @Override
diff --git a/src/main/java/frc/robot/subsystems/IntakeShooter.java b/src/main/java/frc/robot/subsystems/IntakeShooter.java
index c166205..4e973d5 100644
--- a/src/main/java/frc/robot/subsystems/IntakeShooter.java
+++ b/src/main/java/frc/robot/subsystems/IntakeShooter.java
@@ -100,7 +100,7 @@ public void configFollowerMotor(){
         // mLeaderShooter.getPIDController().setI(Constants.SwerveConstants.driveKI);
         // mLeaderShooter.getPIDController().setD(Constants.SwerveConstants.driveKD);
     }
-
+    
     public boolean hasNote(){
         return m_intakeSensor.getProximity() >= Constants.noteIntakeDistance;
     }
diff --git a/src/main/java/frc/robot/subsystems/Pivot.java b/src/main/java/frc/robot/subsystems/Pivot.java
index 21a990d..cad15b4 100644
--- a/src/main/java/frc/robot/subsystems/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/Pivot.java
@@ -43,22 +43,40 @@ public Pivot() {
         configCANcoder();
     }
 
+    /**
+     * Sets the desired state for the pivot
+     * @param state Desired state
+     */
     public void setState(PivotState state) {
         curState = state;
     }
 
+    /**
+     * Gets the current position measured by the CANcoder
+     * @return Current position measured by CANcoder
+     */
     public double getCANcoderPosition() {
         return pivotCANcoder.getPosition().getValueAsDouble();
     }
-
+    /**
+     * Gets the current set point of the pivot. 
+     * @return Current set point in CANcoder values. 
+     */
     public double getSetPoint() {
         return curState.pos;
     }
 
+    /**
+     * Sets the voltage of the pivot motor
+     * @param Desired voltage. 
+     */
     public void setVoltage(double voltage) {
         mPivotMotor.setVoltage(voltage);
     }
 
+    /**
+     * Configures the pivot motor with current limit, idle mode, and PID values
+     */
     private void configMotor() {
         mPivotMotor.setSmartCurrentLimit(Constants.pivotPeakCurrentLimit);
         mPivotMotor.setIdleMode(IdleMode.kBrake);
@@ -67,7 +85,10 @@ private void configMotor() {
         mPivotMotor.getPIDController().setI(Constants.hardwarePIDs.pivotkI);
         mPivotMotor.getPIDController().setD(Constants.hardwarePIDs.pivotkD);
     }
-    
+
+    /**
+     * Configures the pivot CANcoder with sensor direction and absolute range. 
+     */
     private void configCANcoder(){  
         /* Swerve CANCoder Configuration */
         // CANcoder is always initialized to absolute position on boot in Phoenix 6 - https://www.chiefdelphi.com/t/what-kind-of-encoders-are-built-into-the-kraken-motors/447253/7