From a541d419037253216f50fa358412f696e2856556 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sat, 21 Oct 2023 20:17:55 -0700
Subject: [PATCH] [docs] Add missing JavaDocs

---
 .../java/edu/wpi/first/apriltag/AprilTag.java |   9 ++
 .../wpi/first/apriltag/AprilTagDetector.java  |   1 +
 .../wpi/first/apriltag/jni/AprilTagJNI.java   |  18 +++
 .../native/include/frc/apriltag/AprilTag.h    |   8 +-
 .../edu/wpi/first/vision/VisionRunner.java    |   1 +
 .../wpi/first/cscore/CameraServerCvJNI.java   |  18 +++
 .../edu/wpi/first/cscore/CameraServerJNI.java |  18 +++
 .../edu/wpi/first/hal/AccelerometerJNI.java   |   3 +
 .../edu/wpi/first/hal/AccumulatorResult.java  |   3 +
 .../edu/wpi/first/hal/AddressableLEDJNI.java  |   3 +
 .../edu/wpi/first/hal/AllianceStationID.java  |   8 +
 .../java/edu/wpi/first/hal/AnalogGyroJNI.java |   3 +
 .../java/edu/wpi/first/hal/AnalogJNI.java     |   3 +
 .../java/edu/wpi/first/hal/CANAPIJNI.java     |   3 +
 .../java/edu/wpi/first/hal/CTREPCMJNI.java    |   3 +
 .../java/edu/wpi/first/hal/ConstantsJNI.java  |   3 +
 .../java/edu/wpi/first/hal/CounterJNI.java    |   3 +
 .../main/java/edu/wpi/first/hal/DIOJNI.java   |   3 +
 .../main/java/edu/wpi/first/hal/DMAJNI.java   |   3 +
 .../wpi/first/hal/DigitalGlitchFilterJNI.java |   3 +
 .../edu/wpi/first/hal/DriverStationJNI.java   |   1 +
 .../java/edu/wpi/first/hal/DutyCycleJNI.java  |   3 +
 .../java/edu/wpi/first/hal/EncoderJNI.java    |   3 +
 .../main/java/edu/wpi/first/hal/I2CJNI.java   |   3 +
 .../java/edu/wpi/first/hal/InterruptJNI.java  |   3 +
 .../java/edu/wpi/first/hal/JNIWrapper.java    |  17 +++
 .../main/java/edu/wpi/first/hal/LEDJNI.java   |   3 +
 .../java/edu/wpi/first/hal/NotifierJNI.java   |   3 +
 .../main/java/edu/wpi/first/hal/PWMJNI.java   |   3 +
 .../main/java/edu/wpi/first/hal/PortsJNI.java |   3 +
 .../wpi/first/hal/PowerDistributionJNI.java   |   3 +
 .../main/java/edu/wpi/first/hal/PowerJNI.java |   3 +
 .../main/java/edu/wpi/first/hal/REVPHJNI.java |   3 +
 .../main/java/edu/wpi/first/hal/RelayJNI.java |   3 +
 .../main/java/edu/wpi/first/hal/SPIJNI.java   |   3 +
 .../java/edu/wpi/first/hal/SerialPortJNI.java |   3 +
 .../java/edu/wpi/first/hal/SimDeviceJNI.java  |   3 +
 .../java/edu/wpi/first/hal/ThreadsJNI.java    |   3 +
 .../hal/can/CANStreamOverflowException.java   |   3 +
 .../hal/simulation/AccelerometerDataJNI.java  |  12 ++
 .../hal/simulation/AddressableLEDDataJNI.java |   4 +
 .../hal/simulation/AnalogGyroDataJNI.java     |   4 +
 .../first/hal/simulation/AnalogInDataJNI.java |   4 +
 .../hal/simulation/AnalogOutDataJNI.java      |   4 +
 .../hal/simulation/AnalogTriggerDataJNI.java  |   4 +
 .../first/hal/simulation/CTREPCMDataJNI.java  |   4 +
 .../wpi/first/hal/simulation/DIODataJNI.java  |   4 +
 .../hal/simulation/DigitalPWMDataJNI.java     |   4 +
 .../hal/simulation/DriverStationDataJNI.java  |   4 +
 .../hal/simulation/DutyCycleDataJNI.java      |   4 +
 .../first/hal/simulation/EncoderDataJNI.java  |   4 +
 .../wpi/first/hal/simulation/I2CDataJNI.java  |   4 +
 .../first/hal/simulation/NotifierDataJNI.java |   4 +
 .../wpi/first/hal/simulation/PWMDataJNI.java  |   4 +
 .../simulation/PowerDistributionDataJNI.java  |   4 +
 .../first/hal/simulation/REVPHDataJNI.java    |   4 +
 .../first/hal/simulation/RelayDataJNI.java    |   4 +
 .../first/hal/simulation/RoboRioDataJNI.java  |   4 +
 .../simulation/SPIAccelerometerDataJNI.java   |   4 +
 .../wpi/first/hal/simulation/SPIDataJNI.java  |   4 +
 .../hal/simulation/SimDeviceDataJNI.java      |   4 +
 .../first/hal/simulation/SimulatorJNI.java    |   4 +
 .../hal/util/UncleanStatusException.java      |   1 +
 .../main/java/NetworkTablesJNI.java.jinja     |  17 +++
 .../first/networktables/NetworkTablesJNI.java |  17 +++
 .../networktables/TimestampedObject.java      |   6 +-
 styleguide/spotbugs-exclude.xml               |   4 +
 .../wpilibj2/command/WrapperCommand.java      |   1 +
 .../include/frc2/command/WrapperCommand.h     |   1 +
 wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp |  15 +-
 wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp |  29 ++--
 .../main/native/include/frc/ADIS16448_IMU.h   |  70 ++++++++-
 .../main/native/include/frc/ADIS16470_IMU.h   |  96 ++++++++++--
 .../src/main/native/include/frc/ADXL345_I2C.h |  55 +++++--
 .../src/main/native/include/frc/ADXL345_SPI.h |  55 +++++--
 wpilibc/src/main/native/include/frc/ADXL362.h |  37 ++++-
 .../src/main/native/include/frc/AnalogGyro.h  |   4 +-
 .../main/native/include/frc/AnalogOutput.h    |   6 +-
 .../native/include/frc/AnalogTriggerType.h    |   5 +
 .../native/include/frc/BuiltInAccelerometer.h |  12 +-
 .../main/native/include/frc/XboxController.h  |  18 +++
 .../include/frc/interfaces/Accelerometer.h    |  22 ++-
 .../include/frc/simulation/ADXL345Sim.h       |   2 +-
 .../include/frc/simulation/ADXL362Sim.h       |   2 +-
 .../include/frc/simulation/LinearSystemSim.h  |   6 +-
 .../edu/wpi/first/wpilibj/ADIS16448_IMU.java  | 143 ++++++++++++++----
 .../edu/wpi/first/wpilibj/ADIS16470_IMU.java  | 117 ++++++++------
 .../edu/wpi/first/wpilibj/ADXL345_I2C.java    |  40 ++++-
 .../edu/wpi/first/wpilibj/ADXL345_SPI.java    |  35 ++++-
 .../java/edu/wpi/first/wpilibj/ADXL362.java   |  23 +++
 .../edu/wpi/first/wpilibj/AnalogEncoder.java  |   6 +-
 .../edu/wpi/first/wpilibj/AnalogGyro.java     |   2 +-
 .../edu/wpi/first/wpilibj/AnalogOutput.java   |  10 ++
 .../edu/wpi/first/wpilibj/AnalogTrigger.java  |   9 +-
 .../first/wpilibj/AnalogTriggerOutput.java    |   4 +
 .../first/wpilibj/BuiltInAccelerometer.java   |   4 +
 .../edu/wpi/first/wpilibj/DigitalSource.java  |  10 ++
 .../edu/wpi/first/wpilibj/XboxController.java |  18 +++
 .../wpilibj/interfaces/Accelerometer.java     |   5 +
 .../first/wpilibj/simulation/ADXL345Sim.java  |  34 +++--
 .../first/wpilibj/simulation/ADXL362Sim.java  |  34 +++--
 .../wpilibj/simulation/LinearSystemSim.java   |   6 +-
 .../math/InterpolatingMatrixTreeMap.java      |   4 +
 .../edu/wpi/first/math/StateSpaceUtil.java    |   4 +-
 .../java/edu/wpi/first/math/WPIMathJNI.java   |  18 +++
 ...ontrolAffinePlantInversionFeedforward.java |   3 +
 .../controller/ImplicitModelFollower.java     |   4 +
 .../LinearPlantInversionFeedforward.java      |   4 +
 .../controller/LinearQuadraticRegulator.java  |   4 +
 .../first/math/estimator/AngleStatistics.java |   6 +-
 .../math/estimator/ExtendedKalmanFilter.java  |   4 +
 .../first/math/estimator/KalmanFilter.java    |   4 +
 .../estimator/MerweScaledSigmaPoints.java     |   2 +
 .../first/math/estimator/PoseEstimator.java   |   2 +
 .../estimator/SteadyStateKalmanFilter.java    |   4 +
 .../math/estimator/UnscentedKalmanFilter.java |   4 +
 .../wpi/first/math/kinematics/Odometry.java   |   2 +
 .../first/math/system/LinearSystemLoop.java   |   4 +
 .../main/native/include/frc/StateSpaceUtil.h  |  12 +-
 .../ControlAffinePlantInversionFeedforward.h  |   4 +-
 .../frc/controller/ImplicitModelFollower.h    |   3 +
 .../LinearPlantInversionFeedforward.h         |   6 +-
 .../frc/controller/LinearQuadraticRegulator.h |   1 +
 .../include/frc/estimator/AngleStatistics.h   |  12 +-
 .../frc/estimator/ExtendedKalmanFilter.h      |   6 +-
 .../include/frc/estimator/KalmanFilter.h      |   6 +-
 .../frc/estimator/MerweScaledSigmaPoints.h    |   4 +-
 .../include/frc/estimator/PoseEstimator.h     |   3 +
 .../frc/estimator/SteadyStateKalmanFilter.h   |   6 +-
 .../frc/estimator/UnscentedKalmanFilter.h     |   6 +-
 .../native/include/frc/kinematics/Odometry.h  |   3 +
 .../java/edu/wpi/first/net/WPINetJNI.java     |  18 +++
 .../edu/wpi/first/util/CircularBuffer.java    |   8 +-
 .../wpi/first/util/InterpolatingTreeMap.java  |   2 +
 .../java/edu/wpi/first/util/WPIUtilJNI.java   |  18 +++
 .../first/util/struct/BadSchemaException.java |   1 +
 .../first/util/struct/StructSerializable.java |   2 +
 .../util/struct/parser/ParseException.java    |   1 +
 .../main/native/include/wpi/circular_buffer.h |   7 +
 .../include/wpi/static_circular_buffer.h      |   3 +
 140 files changed, 1236 insertions(+), 236 deletions(-)

diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTag.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTag.java
index 2c9be4a6866..9ee0207fedc 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTag.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTag.java
@@ -11,14 +11,23 @@
 import edu.wpi.first.util.RawFrame;
 import java.util.Objects;
 
+/** Represents an AprilTag's metadata. */
 @SuppressWarnings("MemberName")
 public class AprilTag {
+  /** The tag's ID. */
   @JsonProperty(value = "ID")
   public int ID;
 
+  /** The tag's pose. */
   @JsonProperty(value = "pose")
   public Pose3d pose;
 
+  /**
+   * Constructs an AprilTag.
+   *
+   * @param ID The tag's ID.
+   * @param pose The tag's pose.
+   */
   @SuppressWarnings("ParameterName")
   @JsonCreator
   public AprilTag(
diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java
index c62edfa5076..61756854a9b 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java
@@ -182,6 +182,7 @@ public boolean equals(Object obj) {
     }
   }
 
+  /** Constructs an AprilTagDetector. */
   public AprilTagDetector() {
     m_native = AprilTagJNI.createDetector();
   }
diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java b/apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
index d03169b8b96..d1f816837dd 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
@@ -13,21 +13,36 @@
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
+/** AprilTag JNI. */
 public class AprilTagJNI {
   static boolean libraryLoaded = false;
 
   static RuntimeLoader<AprilTagJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -194,4 +209,7 @@ public static native Transform3d estimatePose(
   public static native void generate16h5AprilTagImage(RawFrame frameObj, long frame, int id);
 
   public static native void generate36h11AprilTagImage(RawFrame frameObj, long frame, int id);
+
+  /** Utility class. */
+  private AprilTagJNI() {}
 }
diff --git a/apriltag/src/main/native/include/frc/apriltag/AprilTag.h b/apriltag/src/main/native/include/frc/apriltag/AprilTag.h
index abb8ac59371..a9ef78cc458 100644
--- a/apriltag/src/main/native/include/frc/apriltag/AprilTag.h
+++ b/apriltag/src/main/native/include/frc/apriltag/AprilTag.h
@@ -12,14 +12,16 @@
 
 namespace frc {
 
+/**
+ * Represents an AprilTag's metadata.
+ */
 struct WPILIB_DLLEXPORT AprilTag {
+  /// The tag's ID.
   int ID;
 
+  /// The tag's pose.
   Pose3d pose;
 
-  /**
-   * Checks equality between this AprilTag and another object.
-   */
   bool operator==(const AprilTag&) const = default;
 
   static bool Generate36h11AprilTagImage(wpi::RawFrame* frame, int id);
diff --git a/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java b/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
index ab7072f6c99..b9459cb00c4 100644
--- a/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
+++ b/cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java
@@ -14,6 +14,7 @@
  * code. The easiest way to use this is to run it in a {@link VisionThread} and use the listener to
  * take snapshots of the pipeline's outputs.
  *
+ * @param <P> Vision pipeline type.
  * @see VisionPipeline
  * @see VisionThread
  * @see <a href="package-summary.html">vision</a>
diff --git a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerCvJNI.java b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerCvJNI.java
index 2259582f847..fdbfe611df1 100644
--- a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerCvJNI.java
+++ b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerCvJNI.java
@@ -9,21 +9,36 @@
 import java.util.concurrent.atomic.AtomicBoolean;
 import org.opencv.core.Core;
 
+/** CameraServer CV JNI. */
 public class CameraServerCvJNI {
   static boolean libraryLoaded = false;
 
   static RuntimeLoader<Core> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -72,4 +87,7 @@ public static native int createCvSource(
   public static native long grabSinkFrame(int sink, long imageNativeObj);
 
   public static native long grabSinkFrameTimeout(int sink, long imageNativeObj, double timeout);
+
+  /** Utility class. */
+  private CameraServerCvJNI() {}
 }
diff --git a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
index ae075bc83a6..3dcf66f79e9 100644
--- a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
+++ b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
@@ -11,21 +11,36 @@
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.Consumer;
 
+/** CameraServer JNI. */
 public class CameraServerJNI {
   static boolean libraryLoaded = false;
 
   static RuntimeLoader<CameraServerJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -347,4 +362,7 @@ public interface LoggerFunction {
   public static native int runMainRunLoopTimeout(double timeoutSeconds);
 
   public static native void stopMainRunLoop();
+
+  /** Utility class. */
+  private CameraServerJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/AccelerometerJNI.java b/hal/src/main/java/edu/wpi/first/hal/AccelerometerJNI.java
index 5f34924eb54..fc1bbb588f8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AccelerometerJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AccelerometerJNI.java
@@ -59,4 +59,7 @@ public class AccelerometerJNI extends JNIWrapper {
    * @return the Z acceleration
    */
   public static native double getAccelerometerZ();
+
+  /** Utility class. */
+  private AccelerometerJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java b/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
index f416ff8192d..569c94b00ae 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AccumulatorResult.java
@@ -13,6 +13,9 @@ public class AccumulatorResult {
   /** The number of sample value was accumulated over. */
   public long count;
 
+  /** Constructs an AccumulatorResult. */
+  public AccumulatorResult() {}
+
   /**
    * Set the value and count.
    *
diff --git a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
index b2695a38274..a7a355237b0 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
@@ -97,4 +97,7 @@ public static native void setBitTiming(
    * @see "HAL_StopAddressableLEDOutput"
    */
   public static native void stop(int handle);
+
+  /** Utility class. */
+  private AddressableLEDJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java b/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
index 56c2143c818..6b1fd84ced6 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java
@@ -4,12 +4,20 @@
 
 package edu.wpi.first.hal;
 
+/** Alliance station ID. */
 public enum AllianceStationID {
+  /** Unknown. */
   Unknown,
+  /** Red 1. */
   Red1,
+  /** Red 2. */
   Red2,
+  /** Red 3. */
   Red3,
+  /** Blue 1. */
   Blue1,
+  /** Blue 2. */
   Blue2,
+  /** Blue 3. */
   Blue3
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
index cbc3d4f8e57..5d483f9c8a9 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AnalogGyroJNI.java
@@ -126,4 +126,7 @@ public static native void setAnalogGyroVoltsPerDegreePerSecond(
    * @see "HAL_GetAnalogGyroCenter"
    */
   public static native int getAnalogGyroCenter(int handle);
+
+  /** Utility class. */
+  private AnalogGyroJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
index bf8b27f4927..400fd5911d9 100644
--- a/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java
@@ -497,4 +497,7 @@ public static native void setAnalogTriggerFiltered(
    * @see "HAL_GetAnalogTriggerFPGAIndex"
    */
   public static native int getAnalogTriggerFPGAIndex(int analogTriggerHandle);
+
+  /** Utility class. */
+  private AnalogJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java b/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
index b42def47ea9..90b16889054 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CANAPIJNI.java
@@ -177,4 +177,7 @@ public static native int writeCANPacketRepeatingNoThrow(
    */
   public static native boolean readCANPacketTimeout(
       int handle, int apiId, int timeoutMs, CANData data);
+
+  /** Utility class. */
+  private CANAPIJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/CTREPCMJNI.java b/hal/src/main/java/edu/wpi/first/hal/CTREPCMJNI.java
index b657da592e2..0abe084dd94 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CTREPCMJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CTREPCMJNI.java
@@ -221,4 +221,7 @@ public class CTREPCMJNI extends JNIWrapper {
    * @see "HAL_SetCTREPCMOneShotDuration"
    */
   public static native void setOneShotDuration(int handle, int index, int durMs);
+
+  /** Utility class. */
+  private CTREPCMJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/ConstantsJNI.java b/hal/src/main/java/edu/wpi/first/hal/ConstantsJNI.java
index 48434499ffe..2ccef74db35 100644
--- a/hal/src/main/java/edu/wpi/first/hal/ConstantsJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/ConstantsJNI.java
@@ -17,4 +17,7 @@ public class ConstantsJNI extends JNIWrapper {
    * @see "HAL_GetSystemClockTicksPerMicrosecond"
    */
   public static native int getSystemClockTicksPerMicrosecond();
+
+  /** Utility class. */
+  private ConstantsJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java b/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
index ebc4cffe265..6823185137c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/CounterJNI.java
@@ -279,4 +279,7 @@ public static native void setCounterDownSourceEdge(
    * @see "HAL_SetCounterReverseDirection"
    */
   public static native void setCounterReverseDirection(int counterHandle, boolean reverseDirection);
+
+  /** Utility class. */
+  private CounterJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java b/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
index 3330f4ad3c5..4d597cccddc 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
@@ -178,4 +178,7 @@ public class DIOJNI extends JNIWrapper {
    * @see "HAL_SetDigitalPWMOutputChannel"
    */
   public static native void setDigitalPWMOutputChannel(int pwmGenerator, int channel);
+
+  /** Utility class. */
+  DIOJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java b/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java
index 00000d2f2b9..77eebf014ff 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DMAJNI.java
@@ -245,4 +245,7 @@ public static native long readDMA(
    * @return The DMA sample
    */
   public static native DMAJNISample.BaseStore getSensorReadData(int handle);
+
+  /** Utility class. */
+  private DMAJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/DigitalGlitchFilterJNI.java b/hal/src/main/java/edu/wpi/first/hal/DigitalGlitchFilterJNI.java
index 9a16984d89b..ececa130c55 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DigitalGlitchFilterJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DigitalGlitchFilterJNI.java
@@ -59,4 +59,7 @@ public class DigitalGlitchFilterJNI extends JNIWrapper {
    * @see "HAL_GetFilterPeriod"
    */
   public static native int getFilterPeriod(int filterIndex);
+
+  /** Utility class. */
+  private DigitalGlitchFilterJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java b/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java
index 4a46b525e16..a7ec9f53431 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java
@@ -372,5 +372,6 @@ public static native int sendError(
    */
   public static native boolean getOutputsActive();
 
+  /** Utility class. */
   private DriverStationJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java b/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java
index 1e7dfa0ccc6..6920b2970fb 100644
--- a/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/DutyCycleJNI.java
@@ -78,4 +78,7 @@ public class DutyCycleJNI extends JNIWrapper {
    * @see "HAL_GetDutyCycleFPGAIndex"
    */
   public static native int getFPGAIndex(int handle);
+
+  /** Utility class. */
+  private DutyCycleJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java b/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
index d219db056bd..59503f8c43e 100644
--- a/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/EncoderJNI.java
@@ -275,4 +275,7 @@ public static native void setEncoderIndexSource(
    * @see "HAL_GetEncoderEncodingType"
    */
   public static native int getEncoderEncodingType(int encoderHandle);
+
+  /** Utility class. */
+  private EncoderJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java b/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java
index 90e8ddb4d8f..1b729af805c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/I2CJNI.java
@@ -135,4 +135,7 @@ public static native int i2CRead(
    * @see "HAL_CloseI2C"
    */
   public static native void i2CClose(int port);
+
+  /** Utility class. */
+  private I2CJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java b/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java
index c60543566bd..ec60b839236 100644
--- a/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/InterruptJNI.java
@@ -113,4 +113,7 @@ public static native void setInterruptUpSourceEdge(
    * @see "HAL_ReleaseWaitingInterrupt"
    */
   public static native void releaseWaitingInterrupt(int interruptHandle);
+
+  /** Utility class. */
+  private InterruptJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java b/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
index 6826cd80743..49bcb4a5ec8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
+++ b/hal/src/main/java/edu/wpi/first/hal/JNIWrapper.java
@@ -13,16 +13,30 @@ public class JNIWrapper {
   static boolean libraryLoaded = false;
   static RuntimeLoader<JNIWrapper> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -57,4 +71,7 @@ public static synchronized void forceLoad() throws IOException {
   }
 
   public static void suppressUnused(Object object) {}
+
+  /** Utility class. */
+  public JNIWrapper() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/LEDJNI.java b/hal/src/main/java/edu/wpi/first/hal/LEDJNI.java
index bdb4b02d39f..397328eac47 100644
--- a/hal/src/main/java/edu/wpi/first/hal/LEDJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/LEDJNI.java
@@ -25,4 +25,7 @@ public class LEDJNI extends JNIWrapper {
    * @see "HAL_GetRadioLEDState"
    */
   public static native int getRadioLEDState();
+
+  /** Utility class. */
+  private LEDJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java b/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java
index 5620f032dee..04784bcf4d5 100644
--- a/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/NotifierJNI.java
@@ -101,4 +101,7 @@ public class NotifierJNI extends JNIWrapper {
    * @return the FPGA time the notifier returned
    */
   public static native long waitForNotifierAlarm(int notifierHandle);
+
+  /** Utility class. */
+  private NotifierJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java b/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
index dc2abc10768..5166248839a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
@@ -44,4 +44,7 @@ public static native void setPWMConfigMicroseconds(
   public static native void setAlwaysHighMode(int pwmPortHandle);
 
   public static native void setPWMPeriodScale(int pwmPortHandle, int squelchMask);
+
+  /** Utility class. */
+  private PWMJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/PortsJNI.java b/hal/src/main/java/edu/wpi/first/hal/PortsJNI.java
index 20f9b42110d..b47697b0e62 100644
--- a/hal/src/main/java/edu/wpi/first/hal/PortsJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PortsJNI.java
@@ -185,4 +185,7 @@ public class PortsJNI extends JNIWrapper {
    * @see "HAL_GetNumREVPHChannels"
    */
   public static native int getNumREVPHChannels();
+
+  /** Utility class. */
+  private PortsJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java b/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java
index bc7060d2b4b..93f9a3dccac 100644
--- a/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PowerDistributionJNI.java
@@ -282,4 +282,7 @@ public static PowerDistributionStickyFaults getStickyFaults(int handle) {
    * @see "HAL_GetPowerDistributionVersion"
    */
   public static native PowerDistributionVersion getVersion(int handle);
+
+  /** Utility class. */
+  private PowerDistributionJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/PowerJNI.java b/hal/src/main/java/edu/wpi/first/hal/PowerJNI.java
index 8dd9548cca5..900b423f344 100644
--- a/hal/src/main/java/edu/wpi/first/hal/PowerJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/PowerJNI.java
@@ -167,4 +167,7 @@ public class PowerJNI extends JNIWrapper {
    * @return current CPU temperature in degrees Celsius
    */
   public static native double getCPUTemp();
+
+  /** Utility class. */
+  private PowerJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java b/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
index b1935b2f983..1180b9b107c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
@@ -286,4 +286,7 @@ public static REVPHFaults getFaults(int handle) {
    * @see "HAL_GetREVPHVersion"
    */
   public static native REVPHVersion getVersion(int handle);
+
+  /** Utility class. */
+  private REVPHJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/RelayJNI.java b/hal/src/main/java/edu/wpi/first/hal/RelayJNI.java
index 10a39b4884e..abe146e1a6c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/RelayJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/RelayJNI.java
@@ -57,4 +57,7 @@ public class RelayJNI extends DIOJNI {
    * @see "HAL_GetRelay"
    */
   public static native boolean getRelay(int relayPortHandle);
+
+  /** Utility class. */
+  private RelayJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java b/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
index 82b9fed1602..18a0a8e7672 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
@@ -302,4 +302,7 @@ public static native int spiReadAutoReceivedData(
    */
   public static native void spiConfigureAutoStall(
       int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
+
+  /** Utility class. */
+  private SPIJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java b/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java
index e156f3a0a67..052218fbe79 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SerialPortJNI.java
@@ -205,4 +205,7 @@ public class SerialPortJNI extends JNIWrapper {
    * @see "HAL_CloseSerial"
    */
   public static native void serialClose(int handle);
+
+  /** Utility class. */
+  private SerialPortJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java b/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
index 4352a2df481..fdf09b4435b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SimDeviceJNI.java
@@ -286,4 +286,7 @@ public static void setSimValueBoolean(int handle, boolean value) {
    * @param handle simulated value handle
    */
   public static native void resetSimValue(int handle);
+
+  /** Utility class. */
+  private SimDeviceJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/ThreadsJNI.java b/hal/src/main/java/edu/wpi/first/hal/ThreadsJNI.java
index 2ccc8085603..2183ae3d557 100644
--- a/hal/src/main/java/edu/wpi/first/hal/ThreadsJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/ThreadsJNI.java
@@ -37,4 +37,7 @@ public class ThreadsJNI extends JNIWrapper {
    * @see "HAL_SetCurrentThreadPriority"
    */
   public static native boolean setCurrentThreadPriority(boolean realTime, int priority);
+
+  /** Utility class. */
+  private ThreadsJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/can/CANStreamOverflowException.java b/hal/src/main/java/edu/wpi/first/hal/can/CANStreamOverflowException.java
index 41d2bb56a2d..f5e2f21358c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/can/CANStreamOverflowException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/can/CANStreamOverflowException.java
@@ -8,7 +8,10 @@
 import java.io.IOException;
 
 public class CANStreamOverflowException extends IOException {
+  /** The messages. */
   private final CANStreamMessage[] m_messages;
+
+  /** The length of messages read. */
   private final int m_messagesRead;
 
   /**
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
index 5ea3726eb75..26975c08404 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AccelerometerDataJNI.java
@@ -6,7 +6,16 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for accelerometer data. */
 public class AccelerometerDataJNI extends JNIWrapper {
+  /**
+   * Register a callback to be run when this accelerometer activates.
+   *
+   * @param index the index
+   * @param callback the callback
+   * @param initialNotify whether to run the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
   public static native int registerActiveCallback(
       int index, NotifyCallback callback, boolean initialNotify);
 
@@ -53,4 +62,7 @@ public static native int registerZCallback(
   public static native void setZ(int index, double z);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private AccelerometerDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
index 8ba0e94c7b5..b1465352cb8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AddressableLEDDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for addressable LED data. */
 public class AddressableLEDDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -54,4 +55,7 @@ public static native int registerRunningCallback(
   public static native void resetData(int index);
 
   public static native int findForChannel(int channel);
+
+  /** Utility class. */
+  private AddressableLEDDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java
index a6acc9aa0da..b369dcda15a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogGyroDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for analog gyro data. */
 public class AnalogGyroDataJNI extends JNIWrapper {
   public static native int registerAngleCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -35,4 +36,7 @@ public static native int registerInitializedCallback(
   public static native void setInitialized(int index, boolean initialized);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private AnalogGyroDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java
index 4229c09574d..b3dde0e176a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogInDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for analog input data. */
 public class AnalogInDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -89,4 +90,7 @@ public static native int registerAccumulatorDeadbandCallback(
   public static native void setAccumulatorDeadband(int index, int AccumulatorDeadband);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private AnalogInDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
index 6af16a0957c..f8e4eeccd1e 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogOutDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for analog output data. */
 public class AnalogOutDataJNI extends JNIWrapper {
   public static native int registerVoltageCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -26,4 +27,7 @@ public static native int registerInitializedCallback(
   public static native void setInitialized(int index, boolean initialized);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private AnalogOutDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
index 67b65b50c93..681e5bd8c7a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/AnalogTriggerDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for analog trigger data. */
 public class AnalogTriggerDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -37,4 +38,7 @@ public static native int registerTriggerUpperBoundCallback(
   public static native void resetData(int index);
 
   public static native int findForChannel(int channel);
+
+  /** Utility class. */
+  private AnalogTriggerDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/CTREPCMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/CTREPCMDataJNI.java
index 6d94438d999..265edd036bd 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/CTREPCMDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/CTREPCMDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for CTRE PCM data. */
 public class CTREPCMDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -68,4 +69,7 @@ public static native void registerAllSolenoidCallbacks(
       int index, int channel, NotifyCallback callback, boolean initialNotify);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private CTREPCMDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java
index 0c59415ee1e..dbbab99a510 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DIODataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for DIO data. */
 public class DIODataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -53,4 +54,7 @@ public static native int registerFilterIndexCallback(
   public static native void setFilterIndex(int index, int filterIndex);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private DIODataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
index addcffcd126..e72a2337b9d 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DigitalPWMDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for digital PWM data. */
 public class DigitalPWMDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -37,4 +38,7 @@ public static native int registerPinCallback(
   public static native void resetData(int index);
 
   public static native int findForChannel(int channel);
+
+  /** Utility class. */
+  private DigitalPWMDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java
index 196f0174aea..e310b14d797 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DriverStationDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for Driver Station data. */
 public class DriverStationDataJNI extends JNIWrapper {
   public static native int registerEnabledCallback(NotifyCallback callback, boolean initialNotify);
 
@@ -134,4 +135,7 @@ public static native void setMatchInfo(
   public static native void setReplayNumber(int replayNumber);
 
   public static native void resetData();
+
+  /** Utility class. */
+  private DriverStationDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
index 8f244cac455..e2ed8735827 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/DutyCycleDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for duty cycle data. */
 public class DutyCycleDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -37,4 +38,7 @@ public static native int registerOutputCallback(
   public static native void resetData(int index);
 
   public static native int findForChannel(int channel);
+
+  /** Utility class. */
+  private DutyCycleDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
index e48607a8c15..d853d00508a 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/EncoderDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for encoder data. */
 public class EncoderDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -99,4 +100,7 @@ public static native int registerDistancePerPulseCallback(
   public static native void resetData(int index);
 
   public static native int findForChannel(int channel);
+
+  /** Utility class. */
+  private EncoderDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java
index ebe15ebb8e2..f74d63e074c 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/I2CDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for I2C data. */
 public class I2CDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -25,4 +26,7 @@ public static native int registerInitializedCallback(
   public static native void cancelWriteCallback(int index, int uid);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private I2CDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java
index 9c7b0a271e7..9323d1afa01 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/NotifierDataJNI.java
@@ -6,8 +6,12 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for notifier data. */
 public class NotifierDataJNI extends JNIWrapper {
   public static native long getNextTimeout();
 
   public static native int getNumNotifiers();
+
+  /** Utility class. */
+  private NotifierDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
index d66256bbc8e..10f8b6669a7 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for PWM data. */
 public class PWMDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -62,4 +63,7 @@ public static native int registerZeroLatchCallback(
   public static native void setZeroLatch(int index, boolean zeroLatch);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private PWMDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/PowerDistributionDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/PowerDistributionDataJNI.java
index c17da137a19..80a7e46b1e9 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/PowerDistributionDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/PowerDistributionDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for power distribution data. */
 public class PowerDistributionDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -44,4 +45,7 @@ public static native int registerCurrentCallback(
   public static native void setCurrent(int index, int channel, double current);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private PowerDistributionDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java
index 96b9701c272..9609f3dc22f 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for REV PH data. */
 public class REVPHDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -68,4 +69,7 @@ public static native void registerAllSolenoidCallbacks(
       int index, int channel, NotifyCallback callback, boolean initialNotify);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private REVPHDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java
index 3b165e2754d..734371522b6 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/RelayDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for relay data. */
 public class RelayDataJNI extends JNIWrapper {
   public static native int registerInitializedForwardCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -44,4 +45,7 @@ public static native int registerReverseCallback(
   public static native void setReverse(int index, boolean reverse);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private RelayDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java
index f5362279163..83d599db2f1 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/RoboRioDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for roboRIO data. */
 public class RoboRioDataJNI extends JNIWrapper {
   public static native int registerFPGAButtonCallback(
       NotifyCallback callback, boolean initialNotify);
@@ -186,4 +187,7 @@ public static native int registerRadioLEDStateCallback(
   public static native void setRadioLEDState(int state);
 
   public static native void resetData();
+
+  /** Utility class. */
+  private RoboRioDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java
index 9ceaad8c403..b38fb553314 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIAccelerometerDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for SPI accelerometer data. */
 public class SPIAccelerometerDataJNI extends JNIWrapper {
   public static native int registerActiveCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -53,4 +54,7 @@ public static native int registerZCallback(
   public static native void setZ(int index, double z);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private SPIAccelerometerDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java
index 11b777e2621..fa8df895df2 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SPIDataJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for SPI data. */
 public class SPIDataJNI extends JNIWrapper {
   public static native int registerInitializedCallback(
       int index, NotifyCallback callback, boolean initialNotify);
@@ -30,4 +31,7 @@ public static native int registerReadAutoReceiveBufferCallback(
   public static native void cancelReadAutoReceiveBufferCallback(int index, int uid);
 
   public static native void resetData(int index);
+
+  /** Utility class. */
+  private SPIDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java
index 092b955dc68..b4abb3306e8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SimDeviceDataJNI.java
@@ -7,6 +7,7 @@
 import edu.wpi.first.hal.HALValue;
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for sim device data. */
 public class SimDeviceDataJNI extends JNIWrapper {
   public static native void setSimDeviceEnabled(String prefix, boolean enabled);
 
@@ -106,4 +107,7 @@ public SimValueInfo(
   public static native double[] getSimValueEnumDoubleValues(int handle);
 
   public static native void resetSimDeviceData();
+
+  /** Utility class. */
+  private SimDeviceDataJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java
index 3dfeb068a98..298929c06f8 100644
--- a/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/simulation/SimulatorJNI.java
@@ -6,6 +6,7 @@
 
 import edu.wpi.first.hal.JNIWrapper;
 
+/** JNI for simulator. */
 public class SimulatorJNI extends JNIWrapper {
   public static native void setRuntimeType(int type);
 
@@ -28,4 +29,7 @@ public class SimulatorJNI extends JNIWrapper {
   public static native void stepTimingAsync(long delta);
 
   public static native void resetHandles();
+
+  /** Utility class. */
+  private SimulatorJNI() {}
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java b/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java
index 7be73b4f1bb..6c188d3752b 100644
--- a/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java
+++ b/hal/src/main/java/edu/wpi/first/hal/util/UncleanStatusException.java
@@ -6,6 +6,7 @@
 
 /** Exception for bad status codes from the chip object. */
 public final class UncleanStatusException extends IllegalStateException {
+  /** The status code from the chip object. */
   private final int m_statusCode;
 
   /**
diff --git a/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja b/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
index 17e95dd4836..e16dbd2de9a 100644
--- a/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
+++ b/ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja
@@ -18,16 +18,30 @@ public final class NetworkTablesJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<NetworkTablesJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -358,5 +372,8 @@ public final class NetworkTablesJNI {
   public static native void stopConnectionDataLog(int logger);
 
   public static native int addLogger(int poller, int minLevel, int maxLevel);
+
+  /** Utility class. */
+  private NetworkTablesJNI() {}
 }
 
diff --git a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
index b65b8d97342..5aa40609447 100644
--- a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
+++ b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
@@ -18,16 +18,30 @@ public final class NetworkTablesJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<NetworkTablesJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -494,4 +508,7 @@ public static int startConnectionDataLog(int inst, DataLog log, String name) {
   public static native void stopConnectionDataLog(int logger);
 
   public static native int addLogger(int poller, int minLevel, int maxLevel);
+
+  /** Utility class. */
+  private NetworkTablesJNI() {}
 }
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/TimestampedObject.java b/ntcore/src/main/java/edu/wpi/first/networktables/TimestampedObject.java
index 37c15447936..896ec795a3b 100644
--- a/ntcore/src/main/java/edu/wpi/first/networktables/TimestampedObject.java
+++ b/ntcore/src/main/java/edu/wpi/first/networktables/TimestampedObject.java
@@ -4,7 +4,11 @@
 
 package edu.wpi.first.networktables;
 
-/** NetworkTables timestamped object. */
+/**
+ * NetworkTables timestamped object.
+ *
+ * @param <T> Value type.
+ */
 public final class TimestampedObject<T> {
   /**
    * Create a timestamped value.
diff --git a/styleguide/spotbugs-exclude.xml b/styleguide/spotbugs-exclude.xml
index 9bee5c524d7..ba4feb2ffd6 100644
--- a/styleguide/spotbugs-exclude.xml
+++ b/styleguide/spotbugs-exclude.xml
@@ -138,6 +138,10 @@
     <Bug pattern="URF_UNREAD_FIELD" />
     <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
   </Match>
+  <Match>
+    <Bug pattern="URF_UNREAD_FIELD" />
+    <Class name="edu.wpi.first.wpilibj.AnalogTrigger" />
+  </Match>
   <Match>
     <Bug pattern="URF_UNREAD_PUBLIC_OR_PROTECTED_FIELD" />
   </Match>
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java
index 5e1cb05a076..5e6ccaef82b 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WrapperCommand.java
@@ -15,6 +15,7 @@
  * subsystems its components require.
  */
 public abstract class WrapperCommand extends Command {
+  /** Command being wrapped. */
   protected final Command m_command;
 
   /**
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/WrapperCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/WrapperCommand.h
index 98e8b200820..97a8693dc0b 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/WrapperCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/WrapperCommand.h
@@ -69,6 +69,7 @@ class WrapperCommand : public CommandHelper<Command, WrapperCommand> {
   wpi::SmallSet<Subsystem*, 4> GetRequirements() const override;
 
  protected:
+  /// Command being wrapped.
   std::unique_ptr<Command> m_command;
 };
 }  // namespace frc2
diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
index 14fd37fedc1..4ce419778a2 100644
--- a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -679,8 +679,13 @@ double ADIS16448_IMU::CompFilterProcess(double compAngle, double accelAngle,
   return compAngle;
 }
 
-int ADIS16448_IMU::ConfigDecRate(uint16_t DecimationSetting) {
-  uint16_t writeValue = DecimationSetting;
+int ADIS16448_IMU::ConfigDecRate(uint16_t decimationRate) {
+  // Switches the active SPI port to standard SPI mode, writes a new value to
+  // the DECIMATE register in the IMU, and re-enables auto SPI.
+  //
+  // This function enters standard SPI mode, writes a new DECIMATE setting to
+  // the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
+  uint16_t writeValue = decimationRate;
   uint16_t readbackValue;
   if (!SwitchToStandardSPI()) {
     REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
@@ -688,14 +693,14 @@ int ADIS16448_IMU::ConfigDecRate(uint16_t DecimationSetting) {
   }
 
   /* Check max */
-  if (DecimationSetting > 9) {
+  if (decimationRate > 9) {
     REPORT_ERROR(
         "Attempted to write an invalid decimation value. Capping at 9");
-    DecimationSetting = 9;
+    decimationRate = 9;
   }
 
   /* Shift decimation setting to correct position and select internal sync */
-  writeValue = (DecimationSetting << 8) | 0x1;
+  writeValue = (decimationRate << 8) | 0x1;
 
   /* Apply to IMU */
   WriteRegister(SMPL_PRD, writeValue);
diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
index 4eaa7ccd609..1c5c7a16f5f 100644
--- a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -348,31 +348,22 @@ int ADIS16470_IMU::ConfigCalTime(CalibrationTime new_cal_time) {
   return 0;
 }
 
-/**
- * @brief Switches the active SPI port to standard SPI mode, writes a new value
- *to the DECIMATE register in the IMU, and re-enables auto SPI.
- *
- * @param reg Decimation value to be set.
- *
- * @return An int indicating the success or failure of writing the new DECIMATE
- *setting and returning to auto SPI mode. 0 = Success, 1 = No Change, 2 =
- *Failure
- *
- * This function enters standard SPI mode, writes a new DECIMATE setting to the
- *IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
- **/
-int ADIS16470_IMU::ConfigDecRate(uint16_t reg) {
-  uint16_t m_reg = reg;
+int ADIS16470_IMU::ConfigDecRate(uint16_t decimationRate) {
+  // Switches the active SPI port to standard SPI mode, writes a new value to
+  // the DECIMATE register in the IMU, and re-enables auto SPI.
+  //
+  // This function enters standard SPI mode, writes a new DECIMATE setting to
+  // the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
   if (!SwitchToStandardSPI()) {
     REPORT_ERROR("Failed to configure/reconfigure standard SPI.");
     return 2;
   }
-  if (m_reg > 1999) {
+  if (decimationRate > 1999) {
     REPORT_ERROR("Attempted to write an invalid decimation value.");
-    m_reg = 1999;
+    decimationRate = 1999;
   }
-  m_scaled_sample_rate = (((m_reg + 1.0) / 2000.0) * 1000000.0);
-  WriteRegister(DEC_RATE, m_reg);
+  m_scaled_sample_rate = (((decimationRate + 1.0) / 2000.0) * 1000000.0);
+  WriteRegister(DEC_RATE, decimationRate);
   if (!SwitchToAutoSPI()) {
     REPORT_ERROR("Failed to configure/reconfigure auto SPI.");
     return 2;
diff --git a/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
index 3f4a1c2ebda..41c66c110ff 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
@@ -56,23 +56,47 @@ namespace frc {
 class ADIS16448_IMU : public wpi::Sendable,
                       public wpi::SendableHelper<ADIS16448_IMU> {
  public:
-  /* ADIS16448 Calibration Time Enum Class */
+  /**
+   * ADIS16448 calibration times.
+   */
   enum class CalibrationTime {
+    /// 32 ms calibration time.
     _32ms = 0,
+    /// 64 ms calibration time.
     _64ms = 1,
+    /// 128 ms calibration time.
     _128ms = 2,
+    /// 256 ms calibration time.
     _256ms = 3,
+    /// 512 ms calibration time.
     _512ms = 4,
+    /// 1 s calibration time.
     _1s = 5,
+    /// 2 s calibration time.
     _2s = 6,
+    /// 4 s calibration time.
     _4s = 7,
+    /// 8 s calibration time.
     _8s = 8,
+    /// 16 s calibration time.
     _16s = 9,
+    /// 32 s calibration time.
     _32s = 10,
+    /// 64 s calibration time.
     _64s = 11
   };
 
-  enum IMUAxis { kX, kY, kZ };
+  /**
+   * IMU axes.
+   */
+  enum IMUAxis {
+    /// The IMU's X axis.
+    kX,
+    /// The IMU's Y axis.
+    kY,
+    /// The IMU's Z axis.
+    kZ
+  };
 
   /**
    * IMU constructor on onboard MXP CS0, Z-up orientation, and complementary
@@ -183,31 +207,71 @@ class ADIS16448_IMU : public wpi::Sendable,
    */
   units::meters_per_second_squared_t GetAccelZ() const;
 
+  /**
+   * Returns the complementary angle around the X axis computed from
+   * accelerometer and gyro rate measurements.
+   */
   units::degree_t GetXComplementaryAngle() const;
 
+  /**
+   * Returns the complementary angle around the Y axis computed from
+   * accelerometer and gyro rate measurements.
+   */
   units::degree_t GetYComplementaryAngle() const;
 
+  /**
+   * Returns the X-axis filtered acceleration angle.
+   */
   units::degree_t GetXFilteredAccelAngle() const;
 
+  /**
+   * Returns the Y-axis filtered acceleration angle.
+   */
   units::degree_t GetYFilteredAccelAngle() const;
 
+  /**
+   * Returns the magnetic field strength in the X axis.
+   */
   units::tesla_t GetMagneticFieldX() const;
 
+  /**
+   * Returns the magnetic field strength in the Y axis.
+   */
   units::tesla_t GetMagneticFieldY() const;
 
+  /**
+   * Returns the magnetic field strength in the Z axis.
+   */
   units::tesla_t GetMagneticFieldZ() const;
 
+  /**
+   * Returns the barometric pressure.
+   */
   units::pounds_per_square_inch_t GetBarometricPressure() const;
 
+  /**
+   * Returns the temperature.
+   */
   units::celsius_t GetTemperature() const;
 
   IMUAxis GetYawAxis() const;
 
   int SetYawAxis(IMUAxis yaw_axis);
 
+  /**
+   * Checks the connection status of the IMU.
+   *
+   * @return True if the IMU is connected, false otherwise.
+   */
   bool IsConnected() const;
 
-  int ConfigDecRate(uint16_t DecimationRate);
+  /**
+   * Configures the decimation rate of the IMU.
+   *
+   * @param decimationRate The new decimation value.
+   * @return 0 if success, 1 if no change, 2 if error.
+   */
+  int ConfigDecRate(uint16_t decimationRate);
 
   /**
    * Get the SPI port number.
diff --git a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
index ad8baa0e048..f594c2bcd04 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
@@ -53,27 +53,93 @@ namespace frc {
 class ADIS16470_IMU : public wpi::Sendable,
                       public wpi::SendableHelper<ADIS16470_IMU> {
  public:
-  /* ADIS16470 Calibration Time Enum Class */
+  /**
+   * ADIS16470 calibration times.
+   */
   enum class CalibrationTime {
+    /// 32 ms calibration time.
     _32ms = 0,
+    /// 64 ms calibration time.
     _64ms = 1,
+    /// 128 ms calibration time.
     _128ms = 2,
+    /// 256 ms calibration time.
     _256ms = 3,
+    /// 512 ms calibration time.
     _512ms = 4,
+    /// 1 s calibration time.
     _1s = 5,
+    /// 2 s calibration time.
     _2s = 6,
+    /// 4 s calibration time.
     _4s = 7,
+    /// 8 s calibration time.
     _8s = 8,
+    /// 16 s calibration time.
     _16s = 9,
+    /// 32 s calibration time.
     _32s = 10,
+    /// 64 s calibration time.
     _64s = 11
   };
 
-  enum IMUAxis { kX, kY, kZ, kYaw, kPitch, kRoll };
+  /**
+   * IMU axes.
+   *
+   * kX, kY, and kZ refer to the IMU's X, Y, and Z axes respectively. kYaw,
+   * kPitch, and kRoll are configured by the user to refer to an X, Y, or Z
+   * axis.
+   */
+  enum IMUAxis {
+    /// The IMU's X axis.
+    kX,
+    /// The IMU's Y axis.
+    kY,
+    /// The IMU's Z axis.
+    kZ,
+    /// The user-configured yaw axis.
+    kYaw,
+    /// The user-configured pitch axis.
+    kPitch,
+    /// The user-configured roll axis.
+    kRoll
+  };
 
+  /**
+   * Creates a new ADIS16740 IMU object.
+   *
+   * The default setup is the onboard SPI port with a calibration time of 4
+   * seconds. Yaw, pitch, and roll are kZ, kX, and kY respectively.
+   */
   ADIS16470_IMU();
+
+  /**
+   * Creates a new ADIS16740 IMU object.
+   *
+   * The default setup is the onboard SPI port with a calibration time of 4
+   * seconds.
+   *
+   * <b><i>Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch,or kRoll
+   * will result in an error.</i></b>
+   *
+   * @param yaw_axis The axis that measures the yaw
+   * @param pitch_axis The axis that measures the pitch
+   * @param roll_axis The axis that measures the roll
+   */
   ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis, IMUAxis roll_axis);
 
+  /**
+   * Creates a new ADIS16740 IMU object.
+   *
+   * <b><i>Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch, or
+   * kRoll will result in an error.</i></b>
+   *
+   * @param yaw_axis The axis that measures the yaw
+   * @param pitch_axis The axis that measures the pitch
+   * @param roll_axis The axis that measures the roll
+   * @param port The SPI Port the gyro is plugged into
+   * @param cal_time Calibration time
+   */
   explicit ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis,
                          IMUAxis roll_axis, frc::SPI::Port port,
                          CalibrationTime cal_time);
@@ -84,9 +150,12 @@ class ADIS16470_IMU : public wpi::Sendable,
   ADIS16470_IMU& operator=(ADIS16470_IMU&&) = default;
 
   /**
-   * @brief Configures the decimation rate of the IMU.
+   * Configures the decimation rate of the IMU.
+   *
+   * @param decimationRate The new decimation value.
+   * @return 0 if success, 1 if no change, 2 if error.
    */
-  int ConfigDecRate(uint16_t reg);
+  int ConfigDecRate(uint16_t decimationRate);
 
   /**
    * @brief Switches the active SPI port to standard SPI mode, writes the
@@ -101,8 +170,11 @@ class ADIS16470_IMU : public wpi::Sendable,
   int ConfigCalTime(CalibrationTime new_cal_time);
 
   /**
-   * @brief Resets the gyro accumulations to a heading of zero. This can be used
-   * if the "zero" orientation of the sensor needs to be changed in runtime.
+   * Reset the gyro.
+   *
+   * Resets the gyro accumulations to a heading of zero. This can be used if
+   * there is significant drift in the gyro and it needs to be recalibrated
+   * after running.
    */
   void Reset();
 
@@ -144,14 +216,18 @@ class ADIS16470_IMU : public wpi::Sendable,
   void SetGyroAngleZ(units::degree_t angle);
 
   /**
-   * @param axis The IMUAxis whose angle to return
-   * @return The axis angle (CCW positive)
+   * Returns the axis angle (CCW positive).
+   *
+   * @param axis The IMUAxis whose angle to return.
+   * @return The axis angle (CCW positive).
    */
   units::degree_t GetAngle(IMUAxis axis) const;
 
   /**
-   * @param axis The IMUAxis whose rate to return
-   * @return Axis angular rate (CCW positive)
+   * Returns the axis angular rate (CCW positive).
+   *
+   * @param axis The IMUAxis whose rate to return.
+   * @return Axis angular rate (CCW positive).
    */
   units::degrees_per_second_t GetRate(IMUAxis axis) const;
 
diff --git a/wpilibc/src/main/native/include/frc/ADXL345_I2C.h b/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
index 2fe0da4a350..9b3312ef1c0 100644
--- a/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
+++ b/wpilibc/src/main/native/include/frc/ADXL345_I2C.h
@@ -26,14 +26,42 @@ namespace frc {
 class ADXL345_I2C : public nt::NTSendable,
                     public wpi::SendableHelper<ADXL345_I2C> {
  public:
-  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
+  /**
+   * Accelerometer range.
+   */
+  enum Range {
+    /// 2 Gs max.
+    kRange_2G = 0,
+    /// 4 Gs max.
+    kRange_4G = 1,
+    /// 8 Gs max.
+    kRange_8G = 2,
+    /// 16 Gs max.
+    kRange_16G = 3
+  };
 
-  enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+  /**
+   * Accelerometer axes.
+   */
+  enum Axes {
+    /// X axis.
+    kAxis_X = 0x00,
+    /// Y axis.
+    kAxis_Y = 0x02,
+    /// Z axis.
+    kAxis_Z = 0x04
+  };
 
+  /**
+   * Container type for accelerations from all axes.
+   */
   struct AllAxes {
-    double XAxis;
-    double YAxis;
-    double ZAxis;
+    /// Acceleration along the X axis in g-forces.
+    double XAxis = 0.0;
+    /// Acceleration along the Y axis in g-forces.
+    double YAxis = 0.0;
+    /// Acceleration along the Z axis in g-forces.
+    double ZAxis = 0.0;
   };
 
   /**
@@ -101,14 +129,6 @@ class ADXL345_I2C : public nt::NTSendable,
   void InitSendable(nt::NTSendableBuilder& builder) override;
 
  protected:
-  I2C m_i2c;
-
-  hal::SimDevice m_simDevice;
-  hal::SimEnum m_simRange;
-  hal::SimDouble m_simX;
-  hal::SimDouble m_simY;
-  hal::SimDouble m_simZ;
-
   static constexpr int kAddress = 0x1D;
   static constexpr int kPowerCtlRegister = 0x2D;
   static constexpr int kDataFormatRegister = 0x31;
@@ -129,6 +149,15 @@ class ADXL345_I2C : public nt::NTSendable,
     kDataFormat_FullRes = 0x08,
     kDataFormat_Justify = 0x04
   };
+
+ private:
+  I2C m_i2c;
+
+  hal::SimDevice m_simDevice;
+  hal::SimEnum m_simRange;
+  hal::SimDouble m_simX;
+  hal::SimDouble m_simY;
+  hal::SimDouble m_simZ;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/ADXL345_SPI.h b/wpilibc/src/main/native/include/frc/ADXL345_SPI.h
index 3f2d8aebab4..19eeb5213e7 100644
--- a/wpilibc/src/main/native/include/frc/ADXL345_SPI.h
+++ b/wpilibc/src/main/native/include/frc/ADXL345_SPI.h
@@ -21,14 +21,42 @@ namespace frc {
 class ADXL345_SPI : public nt::NTSendable,
                     public wpi::SendableHelper<ADXL345_SPI> {
  public:
-  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
+  /**
+   * Accelerometer range.
+   */
+  enum Range {
+    /// 2 Gs max.
+    kRange_2G = 0,
+    /// 4 Gs max.
+    kRange_4G = 1,
+    /// 8 Gs max.
+    kRange_8G = 2,
+    /// 16 Gs max.
+    kRange_16G = 3
+  };
 
-  enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+  /**
+   * Accelerometer axes.
+   */
+  enum Axes {
+    /// X axis.
+    kAxis_X = 0x00,
+    /// Y axis.
+    kAxis_Y = 0x02,
+    /// Z axis.
+    kAxis_Z = 0x04
+  };
 
+  /**
+   * Container type for accelerations from all axes.
+   */
   struct AllAxes {
-    double XAxis;
-    double YAxis;
-    double ZAxis;
+    /// Acceleration along the X axis in g-forces.
+    double XAxis = 0.0;
+    /// Acceleration along the Y axis in g-forces.
+    double YAxis = 0.0;
+    /// Acceleration along the Z axis in g-forces.
+    double ZAxis = 0.0;
   };
 
   /**
@@ -94,14 +122,6 @@ class ADXL345_SPI : public nt::NTSendable,
   void InitSendable(nt::NTSendableBuilder& builder) override;
 
  protected:
-  SPI m_spi;
-
-  hal::SimDevice m_simDevice;
-  hal::SimEnum m_simRange;
-  hal::SimDouble m_simX;
-  hal::SimDouble m_simY;
-  hal::SimDouble m_simZ;
-
   static constexpr int kPowerCtlRegister = 0x2D;
   static constexpr int kDataFormatRegister = 0x31;
   static constexpr int kDataRegister = 0x32;
@@ -123,6 +143,15 @@ class ADXL345_SPI : public nt::NTSendable,
     kDataFormat_FullRes = 0x08,
     kDataFormat_Justify = 0x04
   };
+
+ private:
+  SPI m_spi;
+
+  hal::SimDevice m_simDevice;
+  hal::SimEnum m_simRange;
+  hal::SimDouble m_simX;
+  hal::SimDouble m_simY;
+  hal::SimDouble m_simZ;
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/ADXL362.h b/wpilibc/src/main/native/include/frc/ADXL362.h
index ddf6ebed1a2..0332b3103fe 100644
--- a/wpilibc/src/main/native/include/frc/ADXL362.h
+++ b/wpilibc/src/main/native/include/frc/ADXL362.h
@@ -19,13 +19,40 @@ namespace frc {
  */
 class ADXL362 : public nt::NTSendable, public wpi::SendableHelper<ADXL362> {
  public:
-  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
+  /**
+   * Accelerometer range.
+   */
+  enum Range {
+    /// 2 Gs max.
+    kRange_2G = 0,
+    /// 4 Gs max.
+    kRange_4G = 1,
+    /// 8 Gs max.
+    kRange_8G = 2
+  };
 
-  enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
+  /**
+   * Accelerometer axes.
+   */
+  enum Axes {
+    /// X axis.
+    kAxis_X = 0x00,
+    /// Y axis.
+    kAxis_Y = 0x02,
+    /// Z axis.
+    kAxis_Z = 0x04
+  };
+
+  /**
+   * Container type for accelerations from all axes.
+   */
   struct AllAxes {
-    double XAxis;
-    double YAxis;
-    double ZAxis;
+    /// Acceleration along the X axis in g-forces.
+    double XAxis = 0.0;
+    /// Acceleration along the Y axis in g-forces.
+    double YAxis = 0.0;
+    /// Acceleration along the Z axis in g-forces.
+    double ZAxis = 0.0;
   };
 
  public:
diff --git a/wpilibc/src/main/native/include/frc/AnalogGyro.h b/wpilibc/src/main/native/include/frc/AnalogGyro.h
index 0c472fbf7f8..3913b404884 100644
--- a/wpilibc/src/main/native/include/frc/AnalogGyro.h
+++ b/wpilibc/src/main/native/include/frc/AnalogGyro.h
@@ -218,10 +218,8 @@ class AnalogGyro : public wpi::Sendable,
 
   void InitSendable(wpi::SendableBuilder& builder) override;
 
- protected:
-  std::shared_ptr<AnalogInput> m_analog;
-
  private:
+  std::shared_ptr<AnalogInput> m_analog;
   hal::Handle<HAL_GyroHandle> m_gyroHandle;
 };
 
diff --git a/wpilibc/src/main/native/include/frc/AnalogOutput.h b/wpilibc/src/main/native/include/frc/AnalogOutput.h
index ccb3c9c91fe..4151ae67557 100644
--- a/wpilibc/src/main/native/include/frc/AnalogOutput.h
+++ b/wpilibc/src/main/native/include/frc/AnalogOutput.h
@@ -33,14 +33,14 @@ class AnalogOutput : public wpi::Sendable,
   /**
    * Set the value of the analog output.
    *
-   * @param voltage The output value in Volts, from 0.0 to +5.0
+   * @param voltage The output value in Volts, from 0.0 to +5.0.
    */
   void SetVoltage(double voltage);
 
   /**
-   * Get the voltage of the analog output
+   * Get the voltage of the analog output.
    *
-   * @return The value in Volts, from 0.0 to +5.0
+   * @return The value in Volts, from 0.0 to +5.0.
    */
   double GetVoltage() const;
 
diff --git a/wpilibc/src/main/native/include/frc/AnalogTriggerType.h b/wpilibc/src/main/native/include/frc/AnalogTriggerType.h
index c706c344337..0db114d598a 100644
--- a/wpilibc/src/main/native/include/frc/AnalogTriggerType.h
+++ b/wpilibc/src/main/native/include/frc/AnalogTriggerType.h
@@ -6,10 +6,15 @@
 
 namespace frc {
 
+/** Defines the state in which the AnalogTrigger triggers. */
 enum class AnalogTriggerType {
+  /// In window.
   kInWindow = 0,
+  /// State.
   kState = 1,
+  /// Rising Pulse.
   kRisingPulse = 2,
+  /// Falling pulse.
   kFallingPulse = 3
 };
 
diff --git a/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h b/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
index a8f0adc4deb..270ed80d55c 100644
--- a/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
+++ b/wpilibc/src/main/native/include/frc/BuiltInAccelerometer.h
@@ -17,7 +17,17 @@ namespace frc {
 class BuiltInAccelerometer : public wpi::Sendable,
                              public wpi::SendableHelper<BuiltInAccelerometer> {
  public:
-  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2 };
+  /**
+   * Accelerometer range.
+   */
+  enum Range {
+    /// 2 Gs max.
+    kRange_2G = 0,
+    /// 4 Gs max.
+    kRange_4G = 1,
+    /// 8 Gs max.
+    kRange_8G = 2
+  };
 
   /**
    * Constructor.
diff --git a/wpilibc/src/main/native/include/frc/XboxController.h b/wpilibc/src/main/native/include/frc/XboxController.h
index 775e84d03b5..4b720c1fc72 100644
--- a/wpilibc/src/main/native/include/frc/XboxController.h
+++ b/wpilibc/src/main/native/include/frc/XboxController.h
@@ -426,25 +426,43 @@ class XboxController : public GenericHID {
    */
   BooleanEvent RightTrigger(EventLoop* loop) const;
 
+  /** Represents a digital button on an XboxController. */
   struct Button {
+    /// Left bumper.
     static constexpr int kLeftBumper = 5;
+    /// Right bumper.
     static constexpr int kRightBumper = 6;
+    /// Left stick.
     static constexpr int kLeftStick = 9;
+    /// Right stick.
     static constexpr int kRightStick = 10;
+    /// A.
     static constexpr int kA = 1;
+    /// B.
     static constexpr int kB = 2;
+    /// X.
     static constexpr int kX = 3;
+    /// Y.
     static constexpr int kY = 4;
+    /// Back.
     static constexpr int kBack = 7;
+    /// Start.
     static constexpr int kStart = 8;
   };
 
+  /** Represents an axis on an XboxController. */
   struct Axis {
+    /// Left X.
     static constexpr int kLeftX = 0;
+    /// Right X.
     static constexpr int kRightX = 4;
+    /// Left Y.
     static constexpr int kLeftY = 1;
+    /// Right Y.
     static constexpr int kRightY = 5;
+    /// Left trigger.
     static constexpr int kLeftTrigger = 2;
+    /// Right trigger.
     static constexpr int kRightTrigger = 3;
   };
 };
diff --git a/wpilibc/src/main/native/include/frc/interfaces/Accelerometer.h b/wpilibc/src/main/native/include/frc/interfaces/Accelerometer.h
index 77f1d5bc3bd..ceafeba581c 100644
--- a/wpilibc/src/main/native/include/frc/interfaces/Accelerometer.h
+++ b/wpilibc/src/main/native/include/frc/interfaces/Accelerometer.h
@@ -20,7 +20,27 @@ class [[deprecated(
   Accelerometer(Accelerometer&&) = default;
   Accelerometer& operator=(Accelerometer&&) = default;
 
-  enum Range { kRange_2G = 0, kRange_4G = 1, kRange_8G = 2, kRange_16G = 3 };
+  /**
+   * Accelerometer range.
+   */
+  enum Range {
+    /**
+     * 2 Gs max.
+     */
+    kRange_2G = 0,
+    /**
+     * 4 Gs max.
+     */
+    kRange_4G = 1,
+    /**
+     * 8 Gs max.
+     */
+    kRange_8G = 2,
+    /**
+     * 16 Gs max.
+     */
+    kRange_16G = 3
+  };
 
   /**
    * Common interface for setting the measuring range of an accelerometer.
diff --git a/wpilibc/src/main/native/include/frc/simulation/ADXL345Sim.h b/wpilibc/src/main/native/include/frc/simulation/ADXL345Sim.h
index af96b39e748..3cf6162a0a3 100644
--- a/wpilibc/src/main/native/include/frc/simulation/ADXL345Sim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/ADXL345Sim.h
@@ -14,7 +14,7 @@ class ADXL345_I2C;
 namespace sim {
 
 /**
- * Class to control a simulated ADXRS450 gyroscope.
+ * Class to control a simulated ADXL345.
  */
 class ADXL345Sim {
  public:
diff --git a/wpilibc/src/main/native/include/frc/simulation/ADXL362Sim.h b/wpilibc/src/main/native/include/frc/simulation/ADXL362Sim.h
index 269732b3bfc..cc63af27843 100644
--- a/wpilibc/src/main/native/include/frc/simulation/ADXL362Sim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/ADXL362Sim.h
@@ -13,7 +13,7 @@ class ADXL362;
 namespace sim {
 
 /**
- * Class to control a simulated ADXRS450 gyroscope.
+ * Class to control a simulated ADXL362.
  */
 class ADXL362Sim {
  public:
diff --git a/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h b/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
index cfc87b29499..cd586437e42 100644
--- a/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/LinearSystemSim.h
@@ -23,9 +23,9 @@ namespace frc::sim {
  * voltage). Call the Update() method to update the simulation. Set simulated
  * sensor readings with the simulated positions in the GetOutput() method.
  *
- * @tparam States  The number of states of the system.
- * @tparam Inputs  The number of inputs to the system.
- * @tparam Outputs The number of outputs of the system.
+ * @tparam States  Number of states of the system.
+ * @tparam Inputs  Number of inputs to the system.
+ * @tparam Outputs Number of outputs of the system.
  */
 template <int States, int Inputs, int Outputs>
 class LinearSystemSim {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
index 0b11a447682..0b55105c233 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -94,18 +94,31 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
   private static final int PROD_ID = 0x56; // Product identifier
   private static final int SERIAL_NUM = 0x58; // Lot-specific serial number
 
+  /** ADIS16448 calibration times. */
   public enum CalibrationTime {
+    /** 32 ms calibration time */
     _32ms(0),
+    /** 64 ms calibration time */
     _64ms(1),
+    /** 128 ms calibration time */
     _128ms(2),
+    /** 256 ms calibration time */
     _256ms(3),
+    /** 512 ms calibration time */
     _512ms(4),
+    /** 1 s calibration time */
     _1s(5),
+    /** 2 s calibration time */
     _2s(6),
+    /** 4 s calibration time */
     _4s(7),
+    /** 8 s calibration time */
     _8s(8),
+    /** 16 s calibration time */
     _16s(9),
+    /** 32 s calibration time */
     _32s(10),
+    /** 64 s calibration time */
     _64s(11);
 
     private final int value;
@@ -115,9 +128,13 @@ public enum CalibrationTime {
     }
   }
 
+  /** IMU axes. */
   public enum IMUAxis {
+    /** The IMU's X axis. */
     kX,
+    /** The IMU's Y axis. */
     kY,
+    /** The IMU's Z axis. */
     kZ
   }
 
@@ -248,11 +265,14 @@ public void run() {
     }
   }
 
+  /** Creates a new ADIS16448_IMU object. */
   public ADIS16448_IMU() {
     this(IMUAxis.kZ, SPI.Port.kMXP, CalibrationTime._512ms);
   }
 
   /**
+   * Creates a new ADIS16448_IMU object.
+   *
    * @param yaw_axis The axis that measures the yaw
    * @param port The SPI Port the gyro is plugged into
    * @param cal_time Calibration time
@@ -332,6 +352,11 @@ public ADIS16448_IMU(final IMUAxis yaw_axis, SPI.Port port, CalibrationTime cal_
     m_connected = true;
   }
 
+  /**
+   * Checks the connection status of the IMU.
+   *
+   * @return True if the IMU is connected, false otherwise.
+   */
   public boolean isConnected() {
     if (m_simConnected != null) {
       return m_simConnected.get();
@@ -339,7 +364,6 @@ public boolean isConnected() {
     return m_connected;
   }
 
-  /** */
   private static int toUShort(byte[] buf) {
     return (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF) << 0));
   }
@@ -348,7 +372,7 @@ private static int toUByte(int... buf) {
     return (buf[0] & 0xFF);
   }
 
-  public static int toUShort(int... buf) {
+  private static int toUShort(int... buf) {
     return (((buf[0] & 0xFF) << 8) + (buf[1] & 0xFF));
   }
 
@@ -481,7 +505,18 @@ boolean switchToAutoSPI() {
     return true;
   }
 
-  public int configDecRate(int m_decRate) {
+  /**
+   * Configures the decimation rate of the IMU.
+   *
+   * @param decimationRate The new decimation value.
+   * @return 0 if success, 1 if no change, 2 if error.
+   */
+  public int configDecRate(int decimationRate) {
+    // Switches the active SPI port to standard SPI mode, writes a new value to
+    // the DECIMATE register in the IMU, and re-enables auto SPI.
+    //
+    // This function enters standard SPI mode, writes a new DECIMATE setting to
+    // the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
     int writeValue;
     int readbackValue;
     if (!switchToStandardSPI()) {
@@ -490,19 +525,19 @@ public int configDecRate(int m_decRate) {
     }
 
     /* Check max */
-    if (m_decRate > 9) {
+    if (decimationRate > 9) {
       DriverStation.reportError(
           "Attempted to write an invalid decimation value. Capping at 9", false);
-      m_decRate = 9;
+      decimationRate = 9;
     }
-    if (m_decRate < 0) {
+    if (decimationRate < 0) {
       DriverStation.reportError(
           "Attempted to write an invalid decimation value. Capping at 0", false);
-      m_decRate = 0;
+      decimationRate = 0;
     }
 
     /* Shift decimation setting to correct position and select internal sync */
-    writeValue = (m_decRate << 8) | 0x1;
+    writeValue = (decimationRate << 8) | 0x1;
 
     /* Apply to IMU */
     writeRegister(SMPL_PRD, writeValue);
@@ -624,6 +659,12 @@ private void writeRegister(final int reg, final int val) {
     m_spi.write(buf, 2);
   }
 
+  /**
+   * Reset the gyro.
+   *
+   * <p>Resets the gyro accumulations to a heading of zero. This can be used if there is significant
+   * drift in the gyro and it needs to be recalibrated after running.
+   */
   public void reset() {
     synchronized (this) {
       m_integ_gyro_angle_x = 0.0;
@@ -957,7 +998,9 @@ private double compFilterProcess(double compAngle, double accelAngle, double ome
   }
 
   /**
-   * @return Yaw axis angle in degrees (CCW positive)
+   * Returns the yaw axis angle in degrees (CCW positive).
+   *
+   * @return Yaw axis angle in degrees (CCW positive).
    */
   public synchronized double getAngle() {
     switch (m_yaw_axis) {
@@ -973,7 +1016,9 @@ public synchronized double getAngle() {
   }
 
   /**
-   * @return Yaw axis angular rate in degrees per second (CCW positive)
+   * Returns the yaw axis angular rate in degrees per second (CCW positive).
+   *
+   * @return Yaw axis angular rate in degrees per second (CCW positive).
    */
   public synchronized double getRate() {
     switch (m_yaw_axis) {
@@ -989,14 +1034,18 @@ public synchronized double getRate() {
   }
 
   /**
-   * @return Yaw Axis
+   * Returns which axis, kX, kY, or kZ, is set to the yaw axis.
+   *
+   * @return IMUAxis Yaw Axis
    */
   public IMUAxis getYawAxis() {
     return m_yaw_axis;
   }
 
   /**
-   * @return accumulated gyro angle in the X axis in degrees
+   * Returns the accumulated gyro angle in the X axis in degrees.
+   *
+   * @return The accumulated gyro angle in the X axis in degrees.
    */
   public synchronized double getGyroAngleX() {
     if (m_simGyroAngleX != null) {
@@ -1006,7 +1055,9 @@ public synchronized double getGyroAngleX() {
   }
 
   /**
-   * @return accumulated gyro angle in the Y axis in degrees
+   * Returns the accumulated gyro angle in the Y axis in degrees.
+   *
+   * @return The accumulated gyro angle in the Y axis in degrees.
    */
   public synchronized double getGyroAngleY() {
     if (m_simGyroAngleY != null) {
@@ -1016,7 +1067,9 @@ public synchronized double getGyroAngleY() {
   }
 
   /**
-   * @return accumulated gyro angle in the Z axis in degrees
+   * Returns the accumulated gyro angle in the Z axis in degrees.
+   *
+   * @return The accumulated gyro angle in the Z axis in degrees.
    */
   public synchronized double getGyroAngleZ() {
     if (m_simGyroAngleZ != null) {
@@ -1026,7 +1079,9 @@ public synchronized double getGyroAngleZ() {
   }
 
   /**
-   * @return gyro angular rate in the X axis in degrees per second
+   * Returns the gyro angular rate in the X axis in degrees per second.
+   *
+   * @return The gyro angular rate in the X axis in degrees per second.
    */
   public synchronized double getGyroRateX() {
     if (m_simGyroRateX != null) {
@@ -1036,7 +1091,9 @@ public synchronized double getGyroRateX() {
   }
 
   /**
-   * @return gyro angular rate in the Y axis in degrees per second
+   * Returns the gyro angular rate in the Y axis in degrees per second.
+   *
+   * @return The gyro angular rate in the Y axis in degrees per second.
    */
   public synchronized double getGyroRateY() {
     if (m_simGyroRateY != null) {
@@ -1046,7 +1103,9 @@ public synchronized double getGyroRateY() {
   }
 
   /**
-   * @return gyro angular rate in the Z axis in degrees per second
+   * Returns the gyro angular rate in the Z axis in degrees per second.
+   *
+   * @return The gyro angular rate in the Z axis in degrees per second.
    */
   public synchronized double getGyroRateZ() {
     if (m_simGyroRateZ != null) {
@@ -1056,7 +1115,9 @@ public synchronized double getGyroRateZ() {
   }
 
   /**
-   * @return urrent acceleration in the X axis in meters per second squared
+   * Returns the acceleration in the X axis in meters per second squared.
+   *
+   * @return The acceleration in the X axis in meters per second squared.
    */
   public synchronized double getAccelX() {
     if (m_simAccelX != null) {
@@ -1066,7 +1127,9 @@ public synchronized double getAccelX() {
   }
 
   /**
-   * @return current acceleration in the Y axis in meters per second squared
+   * Returns the acceleration in the Y axis in meters per second squared.
+   *
+   * @return The acceleration in the Y axis in meters per second squared.
    */
   public synchronized double getAccelY() {
     if (m_simAccelY != null) {
@@ -1076,7 +1139,9 @@ public synchronized double getAccelY() {
   }
 
   /**
-   * @return current acceleration in the Z axis in meters per second squared
+   * Returns the acceleration in the Z axis in meters per second squared.
+   *
+   * @return The acceleration in the Z axis in meters per second squared.
    */
   public synchronized double getAccelZ() {
     if (m_simAccelZ != null) {
@@ -1086,7 +1151,9 @@ public synchronized double getAccelZ() {
   }
 
   /**
-   * @return Magnetic field strength in the X axis in Tesla
+   * Returns the magnetic field strength in the X axis in Tesla.
+   *
+   * @return The magnetic field strength in the X axis in Tesla.
    */
   public synchronized double getMagneticFieldX() {
     // mG to T
@@ -1094,7 +1161,9 @@ public synchronized double getMagneticFieldX() {
   }
 
   /**
-   * @return Magnetic field strength in the Y axis in Tesla
+   * Returns the magnetic field strength in the Y axis in Tesla.
+   *
+   * @return The magnetic field strength in the Y axis in Tesla.
    */
   public synchronized double getMagneticFieldY() {
     // mG to T
@@ -1102,7 +1171,9 @@ public synchronized double getMagneticFieldY() {
   }
 
   /**
-   * @return Magnetic field strength in the Z axis in Tesla
+   * Returns the magnetic field strength in the Z axis in Tesla.
+   *
+   * @return The magnetic field strength in the Z axis in Tesla.
    */
   public synchronized double getMagneticFieldZ() {
     // mG to T
@@ -1110,35 +1181,47 @@ public synchronized double getMagneticFieldZ() {
   }
 
   /**
-   * @return X-axis complementary angle in degrees
+   * Returns the complementary angle around the X axis computed from accelerometer and gyro rate
+   * measurements.
+   *
+   * @return The X-axis complementary angle in degrees.
    */
   public synchronized double getXComplementaryAngle() {
     return m_compAngleX;
   }
 
   /**
-   * @return Y-axis complementary angle in degrees
+   * Returns the complementary angle around the Y axis computed from accelerometer and gyro rate
+   * measurements.
+   *
+   * @return The Y-axis complementary angle in degrees.
    */
   public synchronized double getYComplementaryAngle() {
     return m_compAngleY;
   }
 
   /**
-   * @return X-axis filtered acceleration angle in degrees
+   * Returns the X-axis filtered acceleration angle in degrees.
+   *
+   * @return The X-axis filtered acceleration angle in degrees.
    */
   public synchronized double getXFilteredAccelAngle() {
     return m_accelAngleX;
   }
 
   /**
-   * @return Y-axis filtered acceleration angle in degrees
+   * Returns the Y-axis filtered acceleration angle in degrees.
+   *
+   * @return The Y-axis filtered acceleration angle in degrees.
    */
   public synchronized double getYFilteredAccelAngle() {
     return m_accelAngleY;
   }
 
   /**
-   * @return Barometric Pressure in PSI
+   * Returns the barometric pressure in PSI.
+   *
+   * @return The barometric pressure in PSI.
    */
   public synchronized double getBarometricPressure() {
     // mbar to PSI conversion
@@ -1146,7 +1229,9 @@ public synchronized double getBarometricPressure() {
   }
 
   /**
-   * @return Temperature in degrees Celsius
+   * Returns the temperature in degrees Celsius.
+   *
+   * @return The temperature in degrees Celsius.
    */
   public synchronized double getTemperature() {
     return m_temp;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
index 8aec21b74ed..b7236a57eea 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -155,31 +155,31 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
     FLASH_CNT
   };
 
-  /** Calibration times for the ADIS16470. */
+  /** ADIS16470 calibration times. */
   public enum CalibrationTime {
-    /** 32ms calibration */
+    /** 32 ms calibration time */
     _32ms(0),
-    /** 64ms calibration */
+    /** 64 ms calibration time */
     _64ms(1),
-    /** 128ms calibration */
+    /** 128 ms calibration time */
     _128ms(2),
-    /** 256ms calibration */
+    /** 256 ms calibration time */
     _256ms(3),
-    /** 512ms calibration */
+    /** 512 ms calibration time */
     _512ms(4),
-    /** 1 second calibration */
+    /** 1 s calibration time */
     _1s(5),
-    /** 2 second calibration */
+    /** 2 s calibration time */
     _2s(6),
-    /** 4 second calibration */
+    /** 4 s calibration time */
     _4s(7),
-    /** 8 second calibration */
+    /** 8 s calibration time */
     _8s(8),
-    /** 16 second calibration */
+    /** 16 s calibration time */
     _16s(9),
-    /** 32 second calibration */
+    /** 32 s calibration time */
     _32s(10),
-    /** 64 second calibration */
+    /** 64 s calibration time */
     _64s(11);
 
     private final int value;
@@ -202,11 +202,11 @@ public enum IMUAxis {
     kY,
     /** The IMU's Z axis */
     kZ,
-    /** The user configured yaw axis */
+    /** The user-configured yaw axis */
     kYaw,
-    /** The user configured pitch axis */
+    /** The user-configured pitch axis */
     kPitch,
-    /** The user configured roll axis */
+    /** The user-configured roll axis */
     kRoll,
   }
 
@@ -290,19 +290,22 @@ public void run() {
   }
 
   /**
-   * Creates a new ADIS16740 IMU object. The default setup is the onboard SPI port with a
-   * calibration time of 4 seconds. Yaw, pitch, and roll are kZ, kX, and kY respectively.
+   * Creates a new ADIS16740 IMU object.
+   *
+   * <p>The default setup is the onboard SPI port with a calibration time of 4 seconds. Yaw, pitch,
+   * and roll are kZ, kX, and kY respectively.
    */
   public ADIS16470_IMU() {
     this(IMUAxis.kZ, IMUAxis.kX, IMUAxis.kY, SPI.Port.kOnboardCS0, CalibrationTime._4s);
   }
 
   /**
-   * Creates a new ADIS16740 IMU object. The default setup is the onboard SPI port with a
-   * calibration time of 4 seconds.
+   * Creates a new ADIS16740 IMU object.
+   *
+   * <p>The default setup is the onboard SPI port with a calibration time of 4 seconds.
    *
    * <p><b><i>Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch,or kRoll will result in
-   * an error. </i></b>
+   * an error.</i></b>
    *
    * @param yaw_axis The axis that measures the yaw
    * @param pitch_axis The axis that measures the pitch
@@ -315,8 +318,8 @@ public ADIS16470_IMU(IMUAxis yaw_axis, IMUAxis pitch_axis, IMUAxis roll_axis) {
   /**
    * Creates a new ADIS16740 IMU object.
    *
-   * <p><b><i> Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch,or kRoll will result in
-   * an error. </i></b>
+   * <p><b><i>Input axes limited to kX, kY and kZ. Specifying kYaw, kPitch,or kRoll will result in
+   * an error.</i></b>
    *
    * @param yaw_axis The axis that measures the yaw
    * @param pitch_axis The axis that measures the pitch
@@ -625,21 +628,25 @@ public int configCalTime(CalibrationTime new_cal_time) {
   /**
    * Configures the decimation rate of the IMU.
    *
-   * @param reg The new decimation value.
-   * @return 0 if OK, 2 if error
+   * @param decimationRate The new decimation value.
+   * @return 0 if success, 1 if no change, 2 if error.
    */
-  public int configDecRate(int reg) {
-    int m_reg = reg;
+  public int configDecRate(int decimationRate) {
+    // Switches the active SPI port to standard SPI mode, writes a new value to
+    // the DECIMATE register in the IMU, and re-enables auto SPI.
+    //
+    // This function enters standard SPI mode, writes a new DECIMATE setting to
+    // the IMU, adjusts the sample scale factor, and re-enters auto SPI mode.
     if (!switchToStandardSPI()) {
       DriverStation.reportError("Failed to configure/reconfigure standard SPI.", false);
       return 2;
     }
-    if (m_reg > 1999) {
+    if (decimationRate > 1999) {
       DriverStation.reportError("Attempted to write an invalid decimation value.", false);
-      m_reg = 1999;
+      decimationRate = 1999;
     }
-    m_scaled_sample_rate = (((m_reg + 1.0) / 2000.0) * 1000000.0);
-    writeRegister(DEC_RATE, m_reg);
+    m_scaled_sample_rate = (((decimationRate + 1.0) / 2000.0) * 1000000.0);
+    writeRegister(DEC_RATE, decimationRate);
     System.out.println("Decimation register: " + readRegister(DEC_RATE));
     if (!switchToAutoSPI()) {
       DriverStation.reportError("Failed to configure/reconfigure auto SPI.", false);
@@ -1003,8 +1010,10 @@ private double compFilterProcess(double compAngle, double accelAngle, double ome
   }
 
   /**
-   * Resets the gyro accumulations to a heading of zero. This can be used if the "zero" orientation
-   * of the sensor needs to be changed in runtime.
+   * Reset the gyro.
+   *
+   * <p>Resets the gyro accumulations to a heading of zero. This can be used if there is significant
+   * drift in the gyro and it needs to be recalibrated after running.
    */
   public void reset() {
     synchronized (this) {
@@ -1086,8 +1095,10 @@ public void setGyroAngleZ(double angle) {
   }
 
   /**
-   * @param axis The IMUAxis whose angle to return
-   * @return The axis angle in degrees (CCW positive)
+   * Returns the axis angle in degrees (CCW positive).
+   *
+   * @param axis The IMUAxis whose angle to return.
+   * @return The axis angle in degrees (CCW positive).
    */
   public synchronized double getAngle(IMUAxis axis) {
     switch (axis) {
@@ -1126,8 +1137,10 @@ public synchronized double getAngle(IMUAxis axis) {
   }
 
   /**
-   * @param axis The IMUAxis whose rate to return
-   * @return Axis angular rate in degrees per second (CCW positive)
+   * Returns the axis angular rate in degrees per second (CCW positive).
+   *
+   * @param axis The IMUAxis whose rate to return.
+   * @return Axis angular rate in degrees per second (CCW positive).
    */
   public synchronized double getRate(IMUAxis axis) {
     switch (axis) {
@@ -1192,49 +1205,65 @@ public IMUAxis getRollAxis() {
   }
 
   /**
-   * @return The acceleration in the X axis
+   * Returns the acceleration in the X axis in meters per second squared.
+   *
+   * @return The acceleration in the X axis in meters per second squared.
    */
   public synchronized double getAccelX() {
     return m_accel_x * 9.81;
   }
 
   /**
-   * @return The acceleration in the Y axis
+   * Returns the acceleration in the Y axis in meters per second squared.
+   *
+   * @return The acceleration in the Y axis in meters per second squared.
    */
   public synchronized double getAccelY() {
     return m_accel_y * 9.81;
   }
 
   /**
-   * @return The acceleration in the Z axis
+   * Returns the acceleration in the Z axis in meters per second squared.
+   *
+   * @return The acceleration in the Z axis in meters per second squared.
    */
   public synchronized double getAccelZ() {
     return m_accel_z * 9.81;
   }
 
   /**
-   * @return The X-axis complementary angle
+   * Returns the complementary angle around the X axis computed from accelerometer and gyro rate
+   * measurements.
+   *
+   * @return The X-axis complementary angle in degrees.
    */
   public synchronized double getXComplementaryAngle() {
     return m_compAngleX;
   }
 
   /**
-   * @return The Y-axis complementary angle
+   * Returns the complementary angle around the Y axis computed from accelerometer and gyro rate
+   * measurements.
+   *
+   * @return The Y-axis complementary angle in degrees.
    */
   public synchronized double getYComplementaryAngle() {
     return m_compAngleY;
   }
 
   /**
-   * @return The X-axis filtered acceleration angle
+   * Returns the X-axis filtered acceleration angle in degrees.
+   *
+   * @return The X-axis filtered acceleration angle in degrees.
    */
   public synchronized double getXFilteredAccelAngle() {
     return m_accelAngleX;
   }
 
   /**
-   * @return The Y-axis filtered acceleration angle
+   * Returns the Y-axis filtered acceleration angle in degrees.
+   *
+   * @return The Y-axis filtered acceleration angle in degrees.
    */
   public synchronized double getYFilteredAccelAngle() {
     return m_accelAngleY;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
index e96151bd769..d59f6821418 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
@@ -43,16 +43,25 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
   private static final byte kDataFormat_FullRes = 0x08;
   private static final byte kDataFormat_Justify = 0x04;
 
+  /** Accelerometer range. */
   public enum Range {
+    /** 2 Gs max. */
     k2G,
+    /** 4 Gs max. */
     k4G,
+    /** 8 Gs max. */
     k8G,
+    /** 16 Gs max. */
     k16G
   }
 
+  /** Accelerometer axes. */
   public enum Axes {
+    /** X axis. */
     kX((byte) 0x00),
+    /** Y axis. */
     kY((byte) 0x02),
+    /** Z axis. */
     kZ((byte) 0x04);
 
     /** The integer value representing this enumeration. */
@@ -63,20 +72,29 @@ public enum Axes {
     }
   }
 
+  /** Container type for accelerations from all axes. */
   @SuppressWarnings("MemberName")
   public static class AllAxes {
+    /** Acceleration along the X axis in g-forces. */
     public double XAxis;
+
+    /** Acceleration along the Y axis in g-forces. */
     public double YAxis;
+
+    /** Acceleration along the Z axis in g-forces. */
     public double ZAxis;
+
+    /** Default constructor. */
+    public AllAxes() {}
   }
 
-  protected I2C m_i2c;
+  private I2C m_i2c;
 
-  protected SimDevice m_simDevice;
-  protected SimEnum m_simRange;
-  protected SimDouble m_simX;
-  protected SimDouble m_simY;
-  protected SimDouble m_simZ;
+  private SimDevice m_simDevice;
+  private SimEnum m_simRange;
+  private SimDouble m_simX;
+  private SimDouble m_simY;
+  private SimDouble m_simZ;
 
   /**
    * Constructs the ADXL345 Accelerometer with I2C address 0x1D.
@@ -123,10 +141,20 @@ public ADXL345_I2C(I2C.Port port, Range range, int deviceAddress) {
     SendableRegistry.addLW(this, "ADXL345_I2C", port.value);
   }
 
+  /**
+   * Returns the I2C port.
+   *
+   * @return The I2C port.
+   */
   public int getPort() {
     return m_i2c.getPort();
   }
 
+  /**
+   * Returns the I2C device address.
+   *
+   * @return The I2C device address.
+   */
   public int getDeviceAddress() {
     return m_i2c.getDeviceAddress();
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
index b98b917f431..4c8435a00b1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
@@ -40,16 +40,25 @@ public class ADXL345_SPI implements NTSendable, AutoCloseable {
   private static final int kDataFormat_FullRes = 0x08;
   private static final int kDataFormat_Justify = 0x04;
 
+  /** Accelerometer range. */
   public enum Range {
+    /** 2 Gs max. */
     k2G,
+    /** 4 Gs max. */
     k4G,
+    /** 8 Gs max. */
     k8G,
+    /** 16 Gs max. */
     k16G
   }
 
+  /** Accelerometer axes. */
   public enum Axes {
+    /** X axis. */
     kX((byte) 0x00),
+    /** Y axis. */
     kY((byte) 0x02),
+    /** Z axis. */
     kZ((byte) 0x04);
 
     /** The integer value representing this enumeration. */
@@ -60,20 +69,29 @@ public enum Axes {
     }
   }
 
+  /** Container type for accelerations from all axes. */
   @SuppressWarnings("MemberName")
   public static class AllAxes {
+    /** Acceleration along the X axis in g-forces. */
     public double XAxis;
+
+    /** Acceleration along the Y axis in g-forces. */
     public double YAxis;
+
+    /** Acceleration along the Z axis in g-forces. */
     public double ZAxis;
+
+    /** Default constructor. */
+    public AllAxes() {}
   }
 
-  protected SPI m_spi;
+  private SPI m_spi;
 
-  protected SimDevice m_simDevice;
-  protected SimEnum m_simRange;
-  protected SimDouble m_simX;
-  protected SimDouble m_simY;
-  protected SimDouble m_simZ;
+  private SimDevice m_simDevice;
+  private SimEnum m_simRange;
+  private SimDouble m_simX;
+  private SimDouble m_simY;
+  private SimDouble m_simZ;
 
   /**
    * Constructor.
@@ -102,6 +120,11 @@ public ADXL345_SPI(SPI.Port port, Range range) {
     SendableRegistry.addLW(this, "ADXL345_SPI", port.value);
   }
 
+  /**
+   * Returns the SPI port.
+   *
+   * @return The SPI port.
+   */
   public int getPort() {
     return m_spi.getPort();
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
index b4950682b16..c3de6dd704e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
@@ -43,17 +43,26 @@ public class ADXL362 implements NTSendable, AutoCloseable {
 
   private static final byte kPowerCtl_Measure = 0x02;
 
+  /** Accelerometer range. */
   public enum Range {
+    /** 2 Gs max. */
     k2G,
+    /** 4 Gs max. */
     k4G,
+    /** 8 Gs max. */
     k8G
   }
 
+  /** Accelerometer axes. */
   public enum Axes {
+    /** X axis. */
     kX((byte) 0x00),
+    /** Y axis. */
     kY((byte) 0x02),
+    /** Z axis. */
     kZ((byte) 0x04);
 
+    /** Axis value. */
     public final byte value;
 
     Axes(byte value) {
@@ -61,11 +70,20 @@ public enum Axes {
     }
   }
 
+  /** Container type for accelerations from all axes. */
   @SuppressWarnings("MemberName")
   public static class AllAxes {
+    /** Acceleration along the X axis in g-forces. */
     public double XAxis;
+
+    /** Acceleration along the Y axis in g-forces. */
     public double YAxis;
+
+    /** Acceleration along the Z axis in g-forces. */
     public double ZAxis;
+
+    /** Default constructor. */
+    public AllAxes() {}
   }
 
   private SPI m_spi;
@@ -142,6 +160,11 @@ public ADXL362(SPI.Port port, Range range) {
     SendableRegistry.addLW(this, "ADXL362", port.value);
   }
 
+  /**
+   * Returns the SPI port.
+   *
+   * @return The SPI port.
+   */
   public int getPort() {
     return m_spi.getPort();
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
index dc8b668bffa..727ad2cd3de 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogEncoder.java
@@ -22,9 +22,9 @@ public class AnalogEncoder implements Sendable, AutoCloseable {
   private double m_distancePerRotation = 1.0;
   private double m_lastPosition;
 
-  protected SimDevice m_simDevice;
-  protected SimDouble m_simPosition;
-  protected SimDouble m_simAbsolutePosition;
+  private SimDevice m_simDevice;
+  private SimDouble m_simPosition;
+  private SimDouble m_simAbsolutePosition;
 
   /**
    * Construct a new AnalogEncoder attached to a specific AnalogIn channel.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
index 198283e34f4..29a17bbed0e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java
@@ -25,7 +25,7 @@
  */
 public class AnalogGyro implements Sendable, AutoCloseable {
   private static final double kDefaultVoltsPerDegreePerSecond = 0.007;
-  protected AnalogInput m_analog;
+  private AnalogInput m_analog;
   private boolean m_channelAllocated;
 
   private int m_gyroHandle;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
index 10f143c8fec..354cedc038d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java
@@ -50,10 +50,20 @@ public int getChannel() {
     return m_channel;
   }
 
+  /**
+   * Set the value of the analog output.
+   *
+   * @param voltage The output value in Volts, from 0.0 to +5.0.
+   */
   public void setVoltage(double voltage) {
     AnalogJNI.setAnalogOutput(m_port, voltage);
   }
 
+  /**
+   * Get the voltage of the analog output.
+   *
+   * @return The value in Volts, from 0.0 to +5.0.
+   */
   public double getVoltage() {
     return AnalogJNI.getAnalogOutput(m_port);
   }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
index 77f8381608b..203a0544b56 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java
@@ -30,9 +30,12 @@ public AnalogTriggerException(String message) {
   /** Where the analog trigger is attached. */
   protected int m_port;
 
-  protected AnalogInput m_analogInput;
-  protected DutyCycle m_dutyCycle;
-  protected boolean m_ownsAnalog;
+  private AnalogInput m_analogInput;
+
+  @SuppressWarnings({"PMD.SingularField", "PMD.UnusedPrivateField"})
+  private DutyCycle m_dutyCycle;
+
+  private boolean m_ownsAnalog;
 
   /**
    * Constructor for an analog trigger given a channel number.
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
index c80179b5c4d..4d459fc2c43 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
@@ -106,9 +106,13 @@ public boolean isAnalogTrigger() {
 
   /** Defines the state in which the AnalogTrigger triggers. */
   public enum AnalogTriggerType {
+    /** In window. */
     kInWindow(AnalogJNI.AnalogTriggerType.kInWindow),
+    /** State. */
     kState(AnalogJNI.AnalogTriggerType.kState),
+    /** Rising pulse. */
     kRisingPulse(AnalogJNI.AnalogTriggerType.kRisingPulse),
+    /** Falling pulse. */
     kFallingPulse(AnalogJNI.AnalogTriggerType.kFallingPulse);
 
     private final int value;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
index 0b2654b4782..522ab88476a 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
@@ -17,9 +17,13 @@
  * <p>This class allows access to the roboRIO's internal accelerometer.
  */
 public class BuiltInAccelerometer implements Sendable, AutoCloseable {
+  /** Accelerometer range. */
   public enum Range {
+    /** 2 Gs max. */
     k2G,
+    /** 4 Gs max. */
     k4G,
+    /** 8 Gs max. */
     k8G
   }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java
index cb8b02475bb..ba3ac83f901 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java
@@ -11,8 +11,18 @@
  * source. The source can either be a digital input or analog trigger but not both.
  */
 public abstract class DigitalSource implements AutoCloseable {
+  /**
+   * Returns true if this DigitalSource is an AnalogTrigger.
+   *
+   * @return True if this DigitalSource is an AnalogTrigger.
+   */
   public abstract boolean isAnalogTrigger();
 
+  /**
+   * The DigitalSource channel.
+   *
+   * @return The DigitalSource channel.
+   */
   public abstract int getChannel();
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
index 6e3a0dfd545..5bd7a019274 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
@@ -23,17 +23,28 @@
 public class XboxController extends GenericHID {
   /** Represents a digital button on an XboxController. */
   public enum Button {
+    /** Left bumper. */
     kLeftBumper(5),
+    /** Right bumper. */
     kRightBumper(6),
+    /** Left stick. */
     kLeftStick(9),
+    /** Right stick. */
     kRightStick(10),
+    /** A. */
     kA(1),
+    /** B. */
     kB(2),
+    /** X. */
     kX(3),
+    /** Y. */
     kY(4),
+    /** Back. */
     kBack(7),
+    /** Start. */
     kStart(8);
 
+    /** Button value. */
     public final int value;
 
     Button(int value) {
@@ -60,13 +71,20 @@ public String toString() {
 
   /** Represents an axis on an XboxController. */
   public enum Axis {
+    /** Left X. */
     kLeftX(0),
+    /** Right X. */
     kRightX(4),
+    /** Left Y. */
     kLeftY(1),
+    /** Right Y. */
     kRightY(5),
+    /** Left trigger. */
     kLeftTrigger(2),
+    /** Right trigger. */
     kRightTrigger(3);
 
+    /** Axis value. */
     public final int value;
 
     Axis(int value) {
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
index d33b7ae4c13..630d45c6b79 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/interfaces/Accelerometer.java
@@ -11,10 +11,15 @@
  */
 @Deprecated(since = "2024", forRemoval = true)
 public interface Accelerometer {
+  /** Accelerometer range. */
   enum Range {
+    /** 2 Gs max. */
     k2G,
+    /** 4 Gs max. */
     k4G,
+    /** 8 Gs max. */
     k8G,
+    /** 16 Gs max. */
     k16G
   }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXL345Sim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXL345Sim.java
index c50c2f8124b..bcbf3e297d6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXL345Sim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXL345Sim.java
@@ -9,10 +9,11 @@
 import edu.wpi.first.wpilibj.ADXL345_SPI;
 import java.util.Objects;
 
+/** Class to control a simulated ADXL345. */
 public class ADXL345Sim {
-  protected SimDouble m_simX;
-  protected SimDouble m_simY;
-  protected SimDouble m_simZ;
+  private SimDouble m_simX;
+  private SimDouble m_simY;
+  private SimDouble m_simZ;
 
   /**
    * Constructor.
@@ -48,15 +49,30 @@ private void initSim(SimDeviceSim simDevice) {
     Objects.requireNonNull(m_simZ);
   }
 
-  public void setX(double x) {
-    m_simX.set(x);
+  /**
+   * Sets the X acceleration.
+   *
+   * @param accel The X acceleration.
+   */
+  public void setX(double accel) {
+    m_simX.set(accel);
   }
 
-  public void setY(double y) {
-    m_simY.set(y);
+  /**
+   * Sets the Y acceleration.
+   *
+   * @param accel The Y acceleration.
+   */
+  public void setY(double accel) {
+    m_simY.set(accel);
   }
 
-  public void setZ(double z) {
-    m_simZ.set(z);
+  /**
+   * Sets the Z acceleration.
+   *
+   * @param accel The Z acceleration.
+   */
+  public void setZ(double accel) {
+    m_simZ.set(accel);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXL362Sim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXL362Sim.java
index 76df8bd6096..148f914699e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXL362Sim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ADXL362Sim.java
@@ -8,10 +8,11 @@
 import edu.wpi.first.wpilibj.ADXL362;
 import java.util.Objects;
 
+/** Class to control a simulated ADXL362. */
 public class ADXL362Sim {
-  protected SimDouble m_simX;
-  protected SimDouble m_simY;
-  protected SimDouble m_simZ;
+  private SimDouble m_simX;
+  private SimDouble m_simY;
+  private SimDouble m_simZ;
 
   /**
    * Constructor.
@@ -34,15 +35,30 @@ private void initSim(SimDeviceSim wrappedSimDevice) {
     Objects.requireNonNull(m_simZ);
   }
 
-  public void setX(double x) {
-    m_simX.set(x);
+  /**
+   * Sets the X acceleration.
+   *
+   * @param accel The X acceleration.
+   */
+  public void setX(double accel) {
+    m_simX.set(accel);
   }
 
-  public void setY(double y) {
-    m_simY.set(y);
+  /**
+   * Sets the Y acceleration.
+   *
+   * @param accel The Y acceleration.
+   */
+  public void setY(double accel) {
+    m_simY.set(accel);
   }
 
-  public void setZ(double z) {
-    m_simZ.set(z);
+  /**
+   * Sets the Z acceleration.
+   *
+   * @param accel The Z acceleration.
+   */
+  public void setZ(double accel) {
+    m_simZ.set(accel);
   }
 }
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
index 73b1170eab4..3a6a4e7cfbf 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
@@ -23,9 +23,9 @@
  *
  * <p>Set simulated sensor readings with the simulated positions in {@link #getOutput()}
  *
- * @param <States> The number of states of the system.
- * @param <Inputs> The number of inputs to the system.
- * @param <Outputs> The number of outputs of the system.
+ * @param <States> Number of states of the system.
+ * @param <Inputs> Number of inputs to the system.
+ * @param <Outputs> Number of outputs of the system.
  */
 public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs extends Num> {
   // The plant that represents the linear system.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/InterpolatingMatrixTreeMap.java b/wpimath/src/main/java/edu/wpi/first/math/InterpolatingMatrixTreeMap.java
index a7b922c9696..2980e92a056 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/InterpolatingMatrixTreeMap.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/InterpolatingMatrixTreeMap.java
@@ -9,6 +9,10 @@
 /**
  * Interpolating Tree Maps are used to get values at points that are not defined by making a guess
  * from points that are defined. This uses linear interpolation.
+ *
+ * @param <K> Key type.
+ * @param <R> Number of matrix rows.
+ * @param <C> Number of matrix columns.
  */
 public class InterpolatingMatrixTreeMap<K extends Number, R extends Num, C extends Num> {
   private final TreeMap<K, Matrix<R, C>> m_map = new TreeMap<>();
diff --git a/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java b/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
index 27ed9e0bb09..77c5fb93dff 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
@@ -139,7 +139,7 @@ public static Matrix<N3, N1> poseToVector(Pose2d pose) {
    * @param u The input to clamp.
    * @param umin The minimum input magnitude.
    * @param umax The maximum input magnitude.
-   * @param <I> The number of inputs.
+   * @param <I> Number of inputs.
    * @return The clamped input.
    */
   public static <I extends Num> Matrix<I, N1> clampInputMaxMagnitude(
@@ -157,7 +157,7 @@ public static <I extends Num> Matrix<I, N1> clampInputMaxMagnitude(
    *
    * @param u The input vector.
    * @param maxMagnitude The maximum magnitude any input can have.
-   * @param <I> The number of inputs.
+   * @param <I> Number of inputs.
    * @return The normalizedInput
    */
   public static <I extends Num> Matrix<I, N1> desaturateInputVector(
diff --git a/wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java b/wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
index ef47a3b3c24..a60bcbae5fc 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
@@ -8,6 +8,7 @@
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
+/** WPIMath JNI. */
 public final class WPIMathJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<WPIMathJNI> loader = null;
@@ -385,15 +386,32 @@ public static native double[] logPose3d(
    */
   public static native String serializeTrajectory(double[] elements);
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
+
+  /** Utility class. */
+  private WPIMathJNI() {}
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
index 50ff576f952..04865009304 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
@@ -27,6 +27,9 @@
  *
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
  */
 public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs extends Num> {
   /** The current reference state. */
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java
index de370e9af1a..29bf0a02be7 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java
@@ -19,6 +19,10 @@
  *
  * <p>For more on the underlying math, read appendix B.3 in <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class ImplicitModelFollower<States extends Num, Inputs extends Num, Outputs extends Num> {
   // Computed controller output
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
index ba395aabbcc..f71465a82a2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
@@ -19,6 +19,10 @@
  *
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class LinearPlantInversionFeedforward<
     States extends Num, Inputs extends Num, Outputs extends Num> {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
index 800ea4007a6..660fa8fefac 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
@@ -21,6 +21,10 @@
  *
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Outputs extends Num> {
   /** The current reference state. */
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/AngleStatistics.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/AngleStatistics.java
index 0f91a1db83a..8a61526e8a1 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/AngleStatistics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/AngleStatistics.java
@@ -11,10 +11,10 @@
 import java.util.function.BiFunction;
 import org.ejml.simple.SimpleMatrix;
 
+/** Angle statistics functions. */
 public final class AngleStatistics {
-  private AngleStatistics() {
-    // Utility class
-  }
+  /** Utility class. */
+  private AngleStatistics() {}
 
   /**
    * Subtracts a and b while normalizing the resulting value in the selected row as if it were an
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
index db246dcab3c..055bf9939af 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
@@ -33,6 +33,10 @@
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
  * chapter 9 "Stochastic control theory".
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
index 8ca1db0a86f..9e286255df7 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
@@ -28,6 +28,10 @@
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
  * chapter 9 "Stochastic control theory".
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java
index 24835f6c341..24fa771f339 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java
@@ -21,6 +21,8 @@
  *
  * <p>[1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic Inference in Dynamic
  * State-Space Models" (Doctoral dissertation)
+ *
+ * @param <S> The dimensionality of the state. 2 * States + 1 weights will be generated.
  */
 public class MerweScaledSigmaPoints<S extends Num> {
   private final double m_alpha;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
index 1d9a54b931a..14eee8f190a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
@@ -34,6 +34,8 @@
  *
  * <p>{@link PoseEstimator#addVisionMeasurement} can be called as infrequently as you want; if you
  * never call it then this class will behave exactly like regular encoder odometry.
+ *
+ * @param <T> Wheel positions type.
  */
 public class PoseEstimator<T extends WheelPositions<T>> {
   private final Kinematics<?, T> m_kinematics;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
index 801c601143d..96e51bca75b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
@@ -31,6 +31,10 @@
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
  * chapter 9 "Stochastic control theory".
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num> {
   private final Nat<States> m_states;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
index c982d08450f..c64ec85cf9b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
@@ -38,6 +38,10 @@
  * <p>This class implements a square-root-form unscented Kalman filter (SR-UKF). For more
  * information about the SR-UKF, see <a
  * href="https://www.researchgate.net/publication/3908304">https://www.researchgate.net/publication/3908304</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java
index b2e5054eb83..427c92d8a18 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java
@@ -15,6 +15,8 @@
  *
  * <p>Teams can use odometry during the autonomous period for complex tasks like path following.
  * Furthermore, odometry can be used for latency compensation when using computer-vision systems.
+ *
+ * @param <T> Wheel positions type.
  */
 public class Odometry<T extends WheelPositions<T>> {
   private final Kinematics<?, T> m_kinematics;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
index 8bd6c15abf2..94017fc0bb2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
@@ -27,6 +27,10 @@
  *
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs extends Num> {
   private final LinearQuadraticRegulator<States, Inputs, Outputs> m_controller;
diff --git a/wpimath/src/main/native/include/frc/StateSpaceUtil.h b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
index e2b638ca24b..65bed6fb1d4 100644
--- a/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -194,8 +194,8 @@ Eigen::Vector4d PoseTo4dVector(const Pose2d& pose);
  * any, have absolute values less than one, where an eigenvalue is
  * uncontrollable if rank([λI - A, B]) < n where n is the number of states.
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
  * @param A System matrix.
  * @param B Input matrix.
  */
@@ -253,8 +253,8 @@ IsStabilizable<Eigen::Dynamic, Eigen::Dynamic>(const Eigen::MatrixXd& A,
  * any, have absolute values less than one, where an eigenvalue is unobservable
  * if rank([λI - A; C]) < n where n is the number of states.
  *
- * @tparam States The number of states.
- * @tparam Outputs The number of outputs.
+ * @tparam States Number of states.
+ * @tparam Outputs Number of outputs.
  * @param A System matrix.
  * @param C Output matrix.
  */
@@ -277,7 +277,7 @@ Eigen::Vector3d PoseToVector(const Pose2d& pose);
 /**
  * Clamps input vector between system's minimum and maximum allowable input.
  *
- * @tparam Inputs The number of inputs.
+ * @tparam Inputs Number of inputs.
  * @param u Input vector to clamp.
  * @param umin The minimum input magnitude.
  * @param umax The maximum input magnitude.
@@ -298,7 +298,7 @@ Vectord<Inputs> ClampInputMaxMagnitude(const Vectord<Inputs>& u,
  * Renormalize all inputs if any exceeds the maximum magnitude. Useful for
  * systems such as differential drivetrains.
  *
- * @tparam Inputs      The number of inputs.
+ * @tparam Inputs      Number of inputs.
  * @param u            The input vector.
  * @param maxMagnitude The maximum magnitude any input can have.
  * @return The normalizedInput
diff --git a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
index 63064576557..c3c282d3e63 100644
--- a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
@@ -34,8 +34,8 @@ namespace frc {
  * For more on the underlying math, read
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
  *
- * @tparam States The number of states.
- * @tparam Inputs the number of inputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
  */
 template <int States, int Inputs>
 class ControlAffinePlantInversionFeedforward {
diff --git a/wpimath/src/main/native/include/frc/controller/ImplicitModelFollower.h b/wpimath/src/main/native/include/frc/controller/ImplicitModelFollower.h
index 3a1230d4bcf..f030d4898c9 100644
--- a/wpimath/src/main/native/include/frc/controller/ImplicitModelFollower.h
+++ b/wpimath/src/main/native/include/frc/controller/ImplicitModelFollower.h
@@ -24,6 +24,9 @@ namespace frc {
  *
  * For more on the underlying math, read appendix B.3 in
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ *
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
  */
 template <int States, int Inputs>
 class ImplicitModelFollower {
diff --git a/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h b/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
index 1d905e24ab2..fb46b030926 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
@@ -26,8 +26,8 @@ namespace frc {
  * For more on the underlying math, read
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
  */
 template <int States, int Inputs>
 class LinearPlantInversionFeedforward {
@@ -38,7 +38,7 @@ class LinearPlantInversionFeedforward {
   /**
    * Constructs a feedforward with the given plant.
    *
-   * @tparam Outputs The number of outputs.
+   * @tparam Outputs Number of outputs.
    * @param plant The plant being controlled.
    * @param dt    Discretization timestep.
    */
diff --git a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
index 979e98a371f..8389a88a642 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
@@ -40,6 +40,7 @@ class LinearQuadraticRegulator {
    * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
    * for how to select the tolerances.
    *
+   * @tparam Outputs Number of outputs.
    * @param plant  The plant being controlled.
    * @param Qelems The maximum desired error tolerance for each state.
    * @param Relems The maximum desired control effort for each input.
diff --git a/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h b/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
index 026cc678812..de0de37e960 100644
--- a/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
+++ b/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
@@ -16,7 +16,7 @@ namespace frc {
  * Subtracts a and b while normalizing the resulting value in the selected row
  * as if it were an angle.
  *
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param a A vector to subtract from.
  * @param b A vector to subtract with.
  * @param angleStateIdx The row containing angles to be normalized.
@@ -34,7 +34,7 @@ Vectord<States> AngleResidual(const Vectord<States>& a,
  * Returns a function that subtracts two vectors while normalizing the resulting
  * value in the selected row as if it were an angle.
  *
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param angleStateIdx The row containing angles to be normalized.
  */
 template <int States>
@@ -49,7 +49,7 @@ AngleResidual(int angleStateIdx) {
  * Adds a and b while normalizing the resulting value in the selected row as an
  * angle.
  *
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param a A vector to add with.
  * @param b A vector to add with.
  * @param angleStateIdx The row containing angles to be normalized.
@@ -67,7 +67,7 @@ Vectord<States> AngleAdd(const Vectord<States>& a, const Vectord<States>& b,
  * Returns a function that adds two vectors while normalizing the resulting
  * value in the selected row as an angle.
  *
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param angleStateIdx The row containing angles to be normalized.
  */
 template <int States>
@@ -82,7 +82,7 @@ AngleAdd(int angleStateIdx) {
  *
  * @tparam CovDim Dimension of covariance of sigma points after passing through
  *                the transform.
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param sigmas Sigma points.
  * @param Wm Weights for the mean.
  * @param angleStatesIdx The row containing the angles.
@@ -113,7 +113,7 @@ Vectord<CovDim> AngleMean(const Matrixd<CovDim, 2 * States + 1>& sigmas,
  *
  * @tparam CovDim Dimension of covariance of sigma points after passing through
  *                the transform.
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param angleStateIdx The row containing the angles.
  */
 template <int CovDim, int States>
diff --git a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
index 32ed558f71b..68eb75b8818 100644
--- a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
@@ -33,9 +33,9 @@ namespace frc {
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9
  * "Stochastic control theory".
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
- * @tparam Outputs The number of outputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
+ * @tparam Outputs Number of outputs.
  */
 template <int States, int Inputs, int Outputs>
 class ExtendedKalmanFilter {
diff --git a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
index 3f9443d72b7..56dce0c11ca 100644
--- a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
@@ -28,9 +28,9 @@ namespace frc {
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9
  * "Stochastic control theory".
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
- * @tparam Outputs The number of outputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
+ * @tparam Outputs Number of outputs.
  */
 template <int States, int Inputs, int Outputs>
 class KalmanFilter {
diff --git a/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h b/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
index b2e0e458ca3..6395d8d3f1e 100644
--- a/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
+++ b/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
@@ -21,8 +21,8 @@ namespace frc {
  * [1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic
  *     Inference in Dynamic State-Space Models" (Doctoral dissertation)
  *
- * @tparam States The dimensionality of the state. 2*States+1 weights will be
- *                generated.
+ * @tparam States The dimensionality of the state. 2 * States + 1 weights will
+ *                be generated.
  */
 template <int States>
 class MerweScaledSigmaPoints {
diff --git a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
index eb437a40f7e..6e38d8c65fb 100644
--- a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
@@ -30,6 +30,9 @@ namespace frc {
  *
  * AddVisionMeasurement() can be called as infrequently as you want; if you
  * never call it, then this class will behave like regular encoder odometry.
+ *
+ * @tparam WheelSpeeds Wheel speeds type.
+ * @tparam WheelPositions Wheel positions type.
  */
 template <typename WheelSpeeds, WheelPositions WheelPositions>
 class WPILIB_DLLEXPORT PoseEstimator {
diff --git a/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h
index 6548b45660f..64b1782b97c 100644
--- a/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h
@@ -33,9 +33,9 @@ namespace frc {
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9
  * "Stochastic control theory".
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
- * @tparam Outputs The number of outputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
+ * @tparam Outputs Number of outputs.
  */
 template <int States, int Inputs, int Outputs>
 class SteadyStateKalmanFilter {
diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
index 9526f0cb489..df68e151606 100644
--- a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
@@ -39,9 +39,9 @@ namespace frc {
  * (SR-UKF). For more information about the SR-UKF, see
  * https://www.researchgate.net/publication/3908304.
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
- * @tparam Outputs The number of outputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
+ * @tparam Outputs Number of outputs.
  */
 template <int States, int Inputs, int Outputs>
 class UnscentedKalmanFilter {
diff --git a/wpimath/src/main/native/include/frc/kinematics/Odometry.h b/wpimath/src/main/native/include/frc/kinematics/Odometry.h
index 55c074c02fa..9e242e2586f 100644
--- a/wpimath/src/main/native/include/frc/kinematics/Odometry.h
+++ b/wpimath/src/main/native/include/frc/kinematics/Odometry.h
@@ -20,6 +20,9 @@ namespace frc {
  * Teams can use odometry during the autonomous period for complex tasks like
  * path following. Furthermore, odometry can be used for latency compensation
  * when using computer-vision systems.
+ *
+ * @tparam WheelSpeeds Wheel speeds type.
+ * @tparam WheelPositions Wheel positions type.
  */
 template <typename WheelSpeeds, WheelPositions WheelPositions>
 class WPILIB_DLLEXPORT Odometry {
diff --git a/wpinet/src/main/java/edu/wpi/first/net/WPINetJNI.java b/wpinet/src/main/java/edu/wpi/first/net/WPINetJNI.java
index d0bcf7d4a9a..8e79cdc2e5c 100644
--- a/wpinet/src/main/java/edu/wpi/first/net/WPINetJNI.java
+++ b/wpinet/src/main/java/edu/wpi/first/net/WPINetJNI.java
@@ -8,20 +8,35 @@
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
+/** WPINet JNI. */
 public class WPINetJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<WPINetJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -82,4 +97,7 @@ public static native int createMulticastServiceAnnouncer(
   public static native int getMulticastServiceResolverEventHandle(int handle);
 
   public static native ServiceData[] getMulticastServiceResolverData(int handle);
+
+  /** Utility class. */
+  private WPINetJNI() {}
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/CircularBuffer.java b/wpiutil/src/main/java/edu/wpi/first/util/CircularBuffer.java
index 6041e44253e..ff68d4d9ac5 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/CircularBuffer.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/CircularBuffer.java
@@ -4,7 +4,11 @@
 
 package edu.wpi.first.util;
 
-/** This is a simple circular buffer so we don't need to "bucket brigade" copy old values. */
+/**
+ * This is a simple circular buffer so we don't need to "bucket brigade" copy old values.
+ *
+ * @param <T> Buffer element type.
+ */
 public class CircularBuffer<T> {
   private T[] m_data;
 
@@ -17,7 +21,7 @@ public class CircularBuffer<T> {
   /**
    * Create a CircularBuffer with the provided size.
    *
-   * @param size The size of the circular buffer.
+   * @param size Maximum number of buffer elements.
    */
   @SuppressWarnings("unchecked")
   public CircularBuffer(int size) {
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/InterpolatingTreeMap.java b/wpiutil/src/main/java/edu/wpi/first/util/InterpolatingTreeMap.java
index 2c54d00ca41..7810afd7878 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/InterpolatingTreeMap.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/InterpolatingTreeMap.java
@@ -10,6 +10,8 @@
  * Interpolating Tree Maps are used to get values at points that are not defined by making a guess
  * from points that are defined. This uses linear interpolation.
  *
+ * @param <K> Key type.
+ * @param <V> Value type.
  * @deprecated Use {@link edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap} instead
  */
 @Deprecated(forRemoval = true, since = "2024")
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java b/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
index 12a0815e13b..96e693dfea7 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
@@ -8,20 +8,35 @@
 import java.nio.ByteBuffer;
 import java.util.concurrent.atomic.AtomicBoolean;
 
+/** WPIUtil JNI. */
 public class WPIUtilJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<WPIUtilJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -137,4 +152,7 @@ public static native boolean waitForObjectTimeout(int handle, double timeout)
    */
   public static native int[] waitForObjectsTimeout(int[] handles, double timeout)
       throws InterruptedException;
+
+  /** Utility class. */
+  protected WPIUtilJNI() {}
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/struct/BadSchemaException.java b/wpiutil/src/main/java/edu/wpi/first/util/struct/BadSchemaException.java
index 6ff22369615..5815cfec009 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/struct/BadSchemaException.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/struct/BadSchemaException.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.util.struct;
 
 public class BadSchemaException extends Exception {
+  /** The bad schema field. */
   private final String m_field;
 
   public BadSchemaException(String s) {
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/struct/StructSerializable.java b/wpiutil/src/main/java/edu/wpi/first/util/struct/StructSerializable.java
index a8d1fdd8078..71ab2d6b0bf 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/struct/StructSerializable.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/struct/StructSerializable.java
@@ -11,5 +11,7 @@
  *
  * <p>While this cannot be enforced by the interface, any class implementing this interface should
  * provide a public final static `struct` member variable.
+ *
+ * @param <T> Serializable type.
  */
 public interface StructSerializable extends WPISerializable {}
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/struct/parser/ParseException.java b/wpiutil/src/main/java/edu/wpi/first/util/struct/parser/ParseException.java
index 9fa843ca70e..7ce4a08621c 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/struct/parser/ParseException.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/struct/parser/ParseException.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.util.struct.parser;
 
 public class ParseException extends Exception {
+  /** The parser position. */
   private final int m_pos;
 
   public ParseException(int pos, String s) {
diff --git a/wpiutil/src/main/native/include/wpi/circular_buffer.h b/wpiutil/src/main/native/include/wpi/circular_buffer.h
index f0a792b956c..a40a627db41 100644
--- a/wpiutil/src/main/native/include/wpi/circular_buffer.h
+++ b/wpiutil/src/main/native/include/wpi/circular_buffer.h
@@ -13,10 +13,17 @@ namespace wpi {
 /**
  * This is a simple circular buffer so we don't need to "bucket brigade" copy
  * old values.
+ *
+ * @tparam T Buffer element type.
  */
 template <class T>
 class circular_buffer {
  public:
+  /**
+   * Constructs a circular buffer.
+   *
+   * @param size Maximum number of buffer elements.
+   */
   explicit circular_buffer(size_t size) : m_data(size, T{}) {}
 
   circular_buffer(const circular_buffer&) = default;
diff --git a/wpiutil/src/main/native/include/wpi/static_circular_buffer.h b/wpiutil/src/main/native/include/wpi/static_circular_buffer.h
index 09446dfcb5e..0d38f25ebea 100644
--- a/wpiutil/src/main/native/include/wpi/static_circular_buffer.h
+++ b/wpiutil/src/main/native/include/wpi/static_circular_buffer.h
@@ -13,6 +13,9 @@ namespace wpi {
 /**
  * This is a simple circular buffer so we don't need to "bucket brigade" copy
  * old values.
+ *
+ * @tparam T Buffer element type.
+ * @tparam N Maximum number of buffer elements.
  */
 template <class T, size_t N>
 class static_circular_buffer {