Commenting programs

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CraterProgramNoLight.java

@@ -36,7 +36,7 @@ public class CraterProgramNoLight extends LinearOpMode {
     private String goldPosition = "";
 
     /**
-     * The main body of our code which contains the set of commands carried out in our crater side autonomous program.
+     * This method is the main body of our code which contains the set of commands carried out in our crater side autonomous program.
      */
     @Override
     public void runOpMode() {
@@ -471,6 +471,7 @@ public void runOpMode() {
     }
 
     /**
+     * This method prints telemetry for our autonomous program
      * @param codePos This is the value we use in telemetry to see where in the code we are
      */
     private void printTelemetry(int codePos) {
@@ -482,7 +483,7 @@ private void printTelemetry(int codePos) {
     }
 
     /**
-     * Lowers lift while reading the sampling
+     * This method lowers the lift while reading the sampling
      */
     private void lowerLift() {
         robot.lift.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
@@ -493,7 +494,7 @@ private void lowerLift() {
     }
 
     /**
-     * Calls Tensor Flow in order to read gold mineral position
+     * This method calls Tensor Flow in order to read gold mineral position
      */
     public void getMineralPosition() {
         int debounceCount = 0;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CraterProgramWithLight.java

@@ -472,6 +472,7 @@ public void runOpMode() {
     }
 
     /**
+     * This method prints telemetry for our autonomous program
      * @param codePos This is the value we use in telemetry to see where in the code we are
      */
     private void printTelemetry(int codePos) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DepotProgramNoLight.java

@@ -458,6 +458,7 @@ public void runOpMode() {
     }
 
     /**
+     * This method prints telemetry for our autonomous program
      * @param codePos This is the value we use in telemetry to see where in the code we are
      */
     private void printTelemetry(int codePos) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DepotProgramWithLight.java

@@ -458,6 +458,7 @@ public void runOpMode() {
     }
 
     /**
+     * This method prints telemetry for our autonomous program
      * @param codePos This is the value we use in telemetry to see where in the code we are
      */
     private void printTelemetry(int codePos) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/HardwareBeep.java

@@ -15,6 +15,15 @@
 
 import org.firstinspires.ftc.teamcode.sensors.SensorMB1242;
 
+/**
+ * @author Beep Patrol
+ * <p>
+ * <b>Summary:</b>
+ * <p>
+ * This is our Hardware Map that contains all the motors, servos, and sensors that we use on the
+ * robot. We pull this Hardware Map in all the programs we use a part of the robot. In this program
+ * we intialize the encoders on the motors we want to call the encoder for.
+ */
 public class HardwareBeep {
 
     // Set Public OpMode Members
@@ -43,7 +52,7 @@ public HardwareBeep() {
     }
 
     /**
-     * Initializes standard hardware snterfaces
+     * Initializes standard hardware interfaces
      */
     public void init(HardwareMap ahwMap) {
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LibraryGyro.java

@@ -9,9 +9,6 @@
 import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
 import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
 
-//@Autonomous(name="Michael Gryo Testing 4", group="Exercises")
-//@Disabled
-
 public class LibraryGyro {
 
     HardwareBeep robot = null;
@@ -27,7 +24,6 @@ public class LibraryGyro {
     double errSum, lastErr;
     double kp, ki, kd;
 
-
     /**
      * The hardware class needs to be initialized before this function is called
      */
@@ -55,7 +51,6 @@ private void resetAngle() {
 
     /**
      * Get current cumulative angle rotation from last reset.
-     *
      * @return Angle in degrees. + = left, - = right.
      */
     public double getAngle() {
@@ -82,7 +77,6 @@ else if (deltaAngle > 180)
 
     /**
      * See if we are moving in a straight line and if not return a power correction value.
-     *
      * @return Power adjustment, + is adjust left - is adjust right.
      */
     private double checkDirection() {
@@ -117,13 +111,24 @@ public void ComputePID() {
 
     }
 
+    /**
+     *
+     * @param Kp
+     * @param Ki
+     * @param Kd
+     */
     public void SetTunings(double Kp, double Ki, double Kd) {
         kp = Kp;
         ki = Ki;
         kd = Kd;
     }
 
 
+    /**
+     *
+     * @param targetHeading
+     * @return
+     */
     public double turnGyro(float targetHeading) {
         int original_anglez = 0;
 //        BNO055IMU imu;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LibraryGyroDrive.java

@@ -42,9 +42,9 @@ public void init(HardwareBeep myRobot, Telemetry myTelemetry, DcMotor myMotor) {
 
     /**
      *
-     * @param speed
-     * @param encoderTicks
-     * @param angle
+     * @param speed This allows us to input a speed when we call this function.
+     * @param encoderTicks Input how far you want to drive using the encoder ticks.
+     * @param angle Input what angle you want it to drive.
      */
     public void gyroDrive(double speed,
                           int encoderTicks,
@@ -152,9 +152,9 @@ public void gyroDrive(double speed,
 
     /**
      *
-     * @param speed
-     * @param angle
-     * @param PCoeff
+     * @param speed Input your desired speed.
+     * @param angle This is the angle the function is fed by the readings to determine the error
+     * @param PCoeff Proportional Gain Coefficient
      * @return
      */
     boolean onHeading(double speed, double angle, double PCoeff) {
@@ -200,7 +200,6 @@ boolean onHeading(double speed, double angle, double PCoeff) {
 
     /**
      * getError determines the error between the target angle and the robot's current heading
-     *
      * @param targetAngle Desired angle (relative to global reference established at last Gyro Reset).
      * @return error angle: Degrees in the range +/- 180. Centered on the robot's frame of reference
      * +ve error means the robot should turn LEFT (CCW) to reduce error.
@@ -218,7 +217,6 @@ public double getError(double targetAngle) {
 
     /**
      * returns desired steering force.  +/- 1 range.  +ve = steer left
-     *
      * @param error  Error angle in robot relative degrees
      * @param PCoeff Proportional Gain Coefficient
      * @return
@@ -229,10 +227,10 @@ public double getSteer(double error, double PCoeff) {
 
     /**
      *
-     * @param speed
-     * @param encoderTicks
-     * @param angle
-     * @param PCoeff
+     * @param speed When you call the function input the desired speed
+     * @param encoderTicks Input the distance you want to drive in encoder ticks
+     * @param angle What angle you would like to drive
+     * @param PCoeff Proportional Gain Coefficient
      */
     public void gyroDriveVariableP(double speed,
                                    int encoderTicks,

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LibraryTensorFlowObjectDetectionNoLight.java

@@ -43,7 +43,7 @@
 
 /**
  * This Our OpMode that illustrates TensorFlow Object Detection API to determine the position of the
- * gold and silver minerals.
+ * gold and silver minerals. For this Library we set the phone light to be off.
  */
 public class LibraryTensorFlowObjectDetectionNoLight {
     private static final String TFOD_MODEL_ASSET = "RoverRuckus.tflite";
@@ -61,17 +61,22 @@ public class LibraryTensorFlowObjectDetectionNoLight {
     private TFObjectDetector tfod;
 
     /**
-     *
-     * @param newHardwareBeep
-     * @param newTelemetry
+     * This method sets the hardware map and telemetry for TensorFlow
+     * @param newHardwareBeep This is the hardware we use to initialize TensorFlow to the phone
+     * @param newTelemetry This is the parameter that calls the telemetry for us to use
      */
-    public LibraryTensorFlowObjectDetectionNoLight(HardwareBeep newHardwareBeep, Telemetry newTelemetry) {
+    public LibraryTensorFlowObjectDetectionNoLight(HardwareBeep newHardwareBeep, Telemetry
+            newTelemetry) {
 
         robot = newHardwareBeep;
         telemetry = newTelemetry;
 
     }
 
+    /**
+     * This method initializes vuforia and returns the gold mineral position
+     * @return Returns gold mineral position
+     */
     public String findMineral() {
         // The TFObjectDetector uses the camera frames from the VuforiaLocalizer, so we create that
         // first.
@@ -132,7 +137,10 @@ public String findMineral() {
         return goldPosition;
     }
 
-    // read mineral function
+    /**
+     * This method has an algorithm that reads the right two minerals.
+     * @return Returns the current gold position.
+     */
     public String readMineral() {
         String currentPos = "";
         ElapsedTime timer = new ElapsedTime();
@@ -225,7 +233,9 @@ public String readMineral() {
         return currentPos;
     }
 
-    // this is the function that initializes the Tensor Flow program
+    /**
+     * This method initializes the Tensor Flow program on the phone
+     */
     private void initVuforia() {
         // Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine
         VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();
@@ -237,7 +247,10 @@ private void initVuforia() {
         vuforia = ClassFactory.getInstance().createVuforia(parameters);
     }
 
-    // this funciton is for the phone light
+    /**
+     * This method turns on the the phone light
+     * @param on This is the value we use to set the phone light to "ON"
+     */
     private void phoneLight(boolean on) {
 
         // if you set the phone light to true than it turns on the phone flashlight

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LibraryTensorFlowObjectDetectionWithLight.java

@@ -43,7 +43,7 @@
 
 /**
  * This Our OpMode that illustrates TensorFlow Object Detection API to determine the position of the
- * gold and silver minerals.
+ * gold and silver minerals. This library sets the phone light to be on.
  */
 public class LibraryTensorFlowObjectDetectionWithLight {
     private static final String TFOD_MODEL_ASSET = "RoverRuckus.tflite";