added documentation

Author: WBelchman

FRC2020/src/main/java/frc/robot/Main.java

@@ -9,6 +9,7 @@
 
 import edu.wpi.first.wpilibj.RobotBase;
 
+//This class looks pretty important but there's really not a whole lot to do here.
 public final class Main {
   private Main() {
   }

FRC2020/src/main/java/frc/robot/OI.java

@@ -14,6 +14,11 @@
 
 public class OI {
 
+	//Instantiate peripherals like joysticks here
+
+	//Each method is called in a Command class to get data from the driver.
+	//A Command will then call a Subsystem to send information to the robot.
+
 	boolean grabberState = true;
 	Joystick leftStick = RobotMap.leftJoystick;
 	Joystick rightStick = RobotMap.rightJoystick;

FRC2020/src/main/java/frc/robot/Robot.java

@@ -39,6 +39,8 @@ public class Robot extends TimedRobot {
 
 	@Override
 	public void robotInit() {
+		//Instantiate subsystems here. 
+		//Subsystem classes should only preform basic controls
 
 		//CameraServer.getInstance().startAutomaticCapture();
 		driveTrain = new DriveTrain();
@@ -59,6 +61,7 @@ public void disabledPeriodic() {
 		Scheduler.getInstance().run();
 	}
 
+	//These are functions for the Autonomous period
 	@Override
 	public void autonomousInit() {
 	}
@@ -67,6 +70,7 @@ public void autonomousInit() {
 	public void autonomousPeriodic() {
 	}
 
+	//Run at the beginning of the Teleop Period
 	@Override
 	public void teleopInit() {
 
@@ -108,6 +112,8 @@ public void teleopPeriodic() {
 			toggle = false;
 		}
 
+		//After a command is added to the Scheduler, its execute function is 
+		//called at each iteration of teleopPeriodic
 		Scheduler.getInstance().run();
 
 	}

FRC2020/src/main/java/frc/robot/RobotMap.java

@@ -18,6 +18,9 @@
 
 public class RobotMap {
 
+	//This is where motors and other component classes are instantiated.
+	//Subsystem classes call these to interact with the Robot.
+
 	// Talons
 	public static WPI_TalonSRX LeftMotor = new WPI_TalonSRX(1);
 	public static WPI_TalonSRX RightMotor = new WPI_TalonSRX(2);

FRC2020/src/main/java/frc/robot/commands/DriveWithJoysticks.java

@@ -15,13 +15,15 @@ public class DriveWithJoysticks extends Command {
     OI oi = Robot.m_oi;
 
     public DriveWithJoysticks() {
+        //This allows only the current command to use the subsystem. 
+		//Mainly used when the subsystem has a physicall device like a motor controller
         requires(Robot.driveTrain);
     }
 
     protected void initialize() {
     }
 
-    protected void execute() {
+    protected void execute() { //Runs when the command is called by the Scheduler
         // Passes OI input into drive train
         Robot.driveTrain.tankDrive(oi.getLeftSpeed(), oi.getRightSpeed());
     }