From 412ce88c4f8a5c2928ca7e515f91fe345a2d2669 Mon Sep 17 00:00:00 2001
From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com>
Date: Sun, 5 Jul 2026 23:11:54 -0500
Subject: [PATCH 1/5] add docstrings to match ctre code

---
 .../rev/src/main/java/first/robot/Robot.java         | 12 +++++++++++-
 .../rev/src/main/java/first/robot/opmode/MyAuto.java | 11 +++++++++--
 .../src/main/java/first/robot/opmode/MyTeleop.java   |  2 ++
 .../rev/src/main/java/first/robot/Robot.java         | 11 +++++++++++
 .../rev/src/main/java/first/robot/opmode/MyAuto.java |  7 +++++++
 .../src/main/java/first/robot/opmode/MyTeleop.java   |  5 ++++-
 6 files changed, 44 insertions(+), 4 deletions(-)

diff --git a/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java b/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java
index 65dcdd6..8488622 100644
--- a/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java
+++ b/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java
@@ -17,6 +17,13 @@
 import org.wpilib.hardware.imu.OnboardIMU;
 import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;
 
+/**
+ * The methods in this class are called automatically as described in the OpModeRobot documentation.
+ * OpMode classes anywhere in the package (or sub-packages) where this class is located are
+ * automatically registered to display in the Driver Station. If you change the name of this class
+ * or the package after creating this project, you must also update the Main.java file in the
+ * project.
+ */
 public class Robot extends OpModeRobot {
 
   private SparkMax leftLeader = new SparkMax(0, 0, MotorType.kBrushless);
@@ -37,8 +44,11 @@ public class Robot extends OpModeRobot {
   public final DifferentialDrive drivetrain =
       new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle);
 
+/**
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
+   */
   public Robot() {
-
     var leftConfig = new SparkMaxConfig().inverted(true);
     leftLeader.configure(
         leftConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
diff --git a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
index 826a695..174c481 100644
--- a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
@@ -15,18 +15,25 @@ public class MyAuto extends PeriodicOpMode {
   private final Robot robot;
   private Timer timer = new Timer();
 
+  /** The Robot instance is passed into the opmode via the constructor. */
   public MyAuto(Robot robot) {
     this.robot = robot;
   }
 
   @Override
   public void start() {
-    timer.restart();
+    timer.restart(); // Reset the timer to zero at the start of auto
   }
 
+  /*
+   * This method runs periodically, using the same period as the Robot instance.
+   *
+   * Additional periodic methods may be configured with addPeriodic(),
+   * which can have periods that differ from the main Robot instance.
+   */
   @Override
   public void periodic() {
-    if (timer.hasElapsed(4)) {
+    if (timer.hasElapsed(4)) { // Drive for 4 seconds after the start of auto
       robot.drivetrain.arcadeDrive(0.0, 0.0); // Stop the robot after 4 seconds
     } else {
       robot.drivetrain.arcadeDrive(0.5, 0.0); // Drive forward at half speed with no rotation
diff --git a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java
index 09fd6ab..94ec0e2 100644
--- a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java
+++ b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java
@@ -15,12 +15,14 @@ public class MyTeleop extends PeriodicOpMode {
   private final Robot robot;
   private final NiDsXboxController xboxController = new NiDsXboxController(0);
 
+  /** The Robot instance is passed into the opmode via the constructor. */
   public MyTeleop(Robot robot) {
     this.robot = robot;
   }
 
   @Override
   public void periodic() {
+    /* Called periodically (set time interval) while the robot is enabled. */
     robot.drivetrain.arcadeDrive(-xboxController.getLeftY(), xboxController.getRightX());
 
     if (xboxController.getRightBumperButton()) {
diff --git a/examples/stage1/templates/rev/src/main/java/first/robot/Robot.java b/examples/stage1/templates/rev/src/main/java/first/robot/Robot.java
index e52755b..d014eeb 100644
--- a/examples/stage1/templates/rev/src/main/java/first/robot/Robot.java
+++ b/examples/stage1/templates/rev/src/main/java/first/robot/Robot.java
@@ -7,8 +7,19 @@
 
 import org.wpilib.framework.OpModeRobot;
 
+/**
+ * The methods in this class are called automatically as described in the OpModeRobot documentation.
+ * OpMode classes anywhere in the package (or sub-packages) where this class is located are
+ * automatically registered to display in the Driver Station. If you change the name of this class
+ * or the package after creating this project, you must also update the Main.java file in the
+ * project.
+ */
 public class Robot extends OpModeRobot {
 
+  /**
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
+   */
   public Robot() {}
 
   @Override
diff --git a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
index 5bd8791..e73f0c2 100644
--- a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
@@ -13,6 +13,7 @@
 public class MyAuto extends PeriodicOpMode {
   private final Robot robot;
 
+  /** The Robot instance is passed into the opmode via the constructor. */
   public MyAuto(Robot robot) {
     this.robot = robot;
   }
@@ -20,6 +21,12 @@ public MyAuto(Robot robot) {
   @Override
   public void start() {}
 
+  /*
+   * This method runs periodically, using the same period as the Robot instance.
+   *
+   * Additional periodic methods may be configured with addPeriodic(),
+   * which can have periods that differ from the main Robot instance.
+   */
   @Override
   public void periodic() {}
 }
diff --git a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyTeleop.java b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyTeleop.java
index 312336a..e2dcd61 100644
--- a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyTeleop.java
+++ b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyTeleop.java
@@ -13,10 +13,13 @@
 public class MyTeleop extends PeriodicOpMode {
   private final Robot robot;
 
+  /** The Robot instance is passed into the opmode via the constructor. */
   public MyTeleop(Robot robot) {
     this.robot = robot;
   }
 
   @Override
-  public void periodic() {}
+  public void periodic() {
+    /* Called periodically (set time interval) while the robot is enabled. */
+  }
 }

From 9627e99e5c6683319debf7c3f9f71ab8dd8ca311 Mon Sep 17 00:00:00 2001
From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com>
Date: Sun, 5 Jul 2026 23:50:14 -0500
Subject: [PATCH 2/5] add missing start() comment

---
 .../ctre/src/main/java/first/robot/opmode/MyAuto.java         | 1 +
 .../rev/src/main/java/first/robot/opmode/MyAuto.java          | 1 +
 .../ctre/src/main/java/first/robot/opmode/MyAuto.java         | 4 +++-
 .../rev/src/main/java/first/robot/opmode/MyAuto.java          | 4 +++-
 4 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/examples/stage1/solutions/ctre/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/solutions/ctre/src/main/java/first/robot/opmode/MyAuto.java
index 0e2ce26..f6f01c7 100644
--- a/examples/stage1/solutions/ctre/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/solutions/ctre/src/main/java/first/robot/opmode/MyAuto.java
@@ -22,6 +22,7 @@ public MyAuto(Robot robot) {
 
   @Override
   public void start() {
+    /* Called once when the robot is enabled. */
     autoTimer.restart(); // Reset the timer to zero at the start of auto
   }
 
diff --git a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
index 174c481..0e09bf7 100644
--- a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
@@ -22,6 +22,7 @@ public MyAuto(Robot robot) {
 
   @Override
   public void start() {
+    /* Called once when the robot is enabled. */
     timer.restart(); // Reset the timer to zero at the start of auto
   }
 
diff --git a/examples/stage1/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java
index e73f0c2..6d12a12 100644
--- a/examples/stage1/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java
@@ -19,7 +19,9 @@ public MyAuto(Robot robot) {
   }
 
   @Override
-  public void start() {}
+  public void start() {
+    /* Called once when the robot is enabled. */
+  }
 
   /*
    * This method runs periodically, using the same period as the Robot instance.
diff --git a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
index e73f0c2..6d12a12 100644
--- a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
@@ -19,7 +19,9 @@ public MyAuto(Robot robot) {
   }
 
   @Override
-  public void start() {}
+  public void start() {
+    /* Called once when the robot is enabled. */
+  }
 
   /*
    * This method runs periodically, using the same period as the Robot instance.

From aa87e2f0316d101fcc4bf5f933675700c6e34f52 Mon Sep 17 00:00:00 2001
From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com>
Date: Sun, 5 Jul 2026 23:11:54 -0500
Subject: [PATCH 3/5] add docstrings to match ctre code

---
 .../rev/src/main/java/first/robot/Robot.java         | 12 +++++++++++-
 .../rev/src/main/java/first/robot/opmode/MyAuto.java | 11 +++++++++--
 .../src/main/java/first/robot/opmode/MyTeleop.java   |  2 ++
 .../rev/src/main/java/first/robot/Robot.java         | 11 +++++++++++
 .../rev/src/main/java/first/robot/opmode/MyAuto.java |  7 +++++++
 .../src/main/java/first/robot/opmode/MyTeleop.java   |  5 ++++-
 6 files changed, 44 insertions(+), 4 deletions(-)

diff --git a/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java b/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java
index 65dcdd6..8488622 100644
--- a/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java
+++ b/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java
@@ -17,6 +17,13 @@
 import org.wpilib.hardware.imu.OnboardIMU;
 import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;
 
+/**
+ * The methods in this class are called automatically as described in the OpModeRobot documentation.
+ * OpMode classes anywhere in the package (or sub-packages) where this class is located are
+ * automatically registered to display in the Driver Station. If you change the name of this class
+ * or the package after creating this project, you must also update the Main.java file in the
+ * project.
+ */
 public class Robot extends OpModeRobot {
 
   private SparkMax leftLeader = new SparkMax(0, 0, MotorType.kBrushless);
@@ -37,8 +44,11 @@ public class Robot extends OpModeRobot {
   public final DifferentialDrive drivetrain =
       new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle);
 
+/**
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
+   */
   public Robot() {
-
     var leftConfig = new SparkMaxConfig().inverted(true);
     leftLeader.configure(
         leftConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
diff --git a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
index 826a695..174c481 100644
--- a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
@@ -15,18 +15,25 @@ public class MyAuto extends PeriodicOpMode {
   private final Robot robot;
   private Timer timer = new Timer();
 
+  /** The Robot instance is passed into the opmode via the constructor. */
   public MyAuto(Robot robot) {
     this.robot = robot;
   }
 
   @Override
   public void start() {
-    timer.restart();
+    timer.restart(); // Reset the timer to zero at the start of auto
   }
 
+  /*
+   * This method runs periodically, using the same period as the Robot instance.
+   *
+   * Additional periodic methods may be configured with addPeriodic(),
+   * which can have periods that differ from the main Robot instance.
+   */
   @Override
   public void periodic() {
-    if (timer.hasElapsed(4)) {
+    if (timer.hasElapsed(4)) { // Drive for 4 seconds after the start of auto
       robot.drivetrain.arcadeDrive(0.0, 0.0); // Stop the robot after 4 seconds
     } else {
       robot.drivetrain.arcadeDrive(0.5, 0.0); // Drive forward at half speed with no rotation
diff --git a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java
index 09fd6ab..94ec0e2 100644
--- a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java
+++ b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyTeleop.java
@@ -15,12 +15,14 @@ public class MyTeleop extends PeriodicOpMode {
   private final Robot robot;
   private final NiDsXboxController xboxController = new NiDsXboxController(0);
 
+  /** The Robot instance is passed into the opmode via the constructor. */
   public MyTeleop(Robot robot) {
     this.robot = robot;
   }
 
   @Override
   public void periodic() {
+    /* Called periodically (set time interval) while the robot is enabled. */
     robot.drivetrain.arcadeDrive(-xboxController.getLeftY(), xboxController.getRightX());
 
     if (xboxController.getRightBumperButton()) {
diff --git a/examples/stage1/templates/rev/src/main/java/first/robot/Robot.java b/examples/stage1/templates/rev/src/main/java/first/robot/Robot.java
index e52755b..d014eeb 100644
--- a/examples/stage1/templates/rev/src/main/java/first/robot/Robot.java
+++ b/examples/stage1/templates/rev/src/main/java/first/robot/Robot.java
@@ -7,8 +7,19 @@
 
 import org.wpilib.framework.OpModeRobot;
 
+/**
+ * The methods in this class are called automatically as described in the OpModeRobot documentation.
+ * OpMode classes anywhere in the package (or sub-packages) where this class is located are
+ * automatically registered to display in the Driver Station. If you change the name of this class
+ * or the package after creating this project, you must also update the Main.java file in the
+ * project.
+ */
 public class Robot extends OpModeRobot {
 
+  /**
+   * This function is run when the robot is first started up and should be used for any
+   * initialization code.
+   */
   public Robot() {}
 
   @Override
diff --git a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
index 5bd8791..e73f0c2 100644
--- a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
@@ -13,6 +13,7 @@
 public class MyAuto extends PeriodicOpMode {
   private final Robot robot;
 
+  /** The Robot instance is passed into the opmode via the constructor. */
   public MyAuto(Robot robot) {
     this.robot = robot;
   }
@@ -20,6 +21,12 @@ public MyAuto(Robot robot) {
   @Override
   public void start() {}
 
+  /*
+   * This method runs periodically, using the same period as the Robot instance.
+   *
+   * Additional periodic methods may be configured with addPeriodic(),
+   * which can have periods that differ from the main Robot instance.
+   */
   @Override
   public void periodic() {}
 }
diff --git a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyTeleop.java b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyTeleop.java
index 312336a..e2dcd61 100644
--- a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyTeleop.java
+++ b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyTeleop.java
@@ -13,10 +13,13 @@
 public class MyTeleop extends PeriodicOpMode {
   private final Robot robot;
 
+  /** The Robot instance is passed into the opmode via the constructor. */
   public MyTeleop(Robot robot) {
     this.robot = robot;
   }
 
   @Override
-  public void periodic() {}
+  public void periodic() {
+    /* Called periodically (set time interval) while the robot is enabled. */
+  }
 }

From 08dd9f5b6377d58de517d4246d4d44ba9fa0763d Mon Sep 17 00:00:00 2001
From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com>
Date: Sun, 5 Jul 2026 23:50:14 -0500
Subject: [PATCH 4/5] add missing start() comment

---
 .../ctre/src/main/java/first/robot/opmode/MyAuto.java         | 1 +
 .../rev/src/main/java/first/robot/opmode/MyAuto.java          | 1 +
 .../ctre/src/main/java/first/robot/opmode/MyAuto.java         | 4 +++-
 .../rev/src/main/java/first/robot/opmode/MyAuto.java          | 4 +++-
 4 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/examples/stage1/solutions/ctre/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/solutions/ctre/src/main/java/first/robot/opmode/MyAuto.java
index 0e2ce26..f6f01c7 100644
--- a/examples/stage1/solutions/ctre/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/solutions/ctre/src/main/java/first/robot/opmode/MyAuto.java
@@ -22,6 +22,7 @@ public MyAuto(Robot robot) {
 
   @Override
   public void start() {
+    /* Called once when the robot is enabled. */
     autoTimer.restart(); // Reset the timer to zero at the start of auto
   }
 
diff --git a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
index 174c481..0e09bf7 100644
--- a/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/solutions/rev/src/main/java/first/robot/opmode/MyAuto.java
@@ -22,6 +22,7 @@ public MyAuto(Robot robot) {
 
   @Override
   public void start() {
+    /* Called once when the robot is enabled. */
     timer.restart(); // Reset the timer to zero at the start of auto
   }
 
diff --git a/examples/stage1/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java
index e73f0c2..6d12a12 100644
--- a/examples/stage1/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/templates/ctre/src/main/java/first/robot/opmode/MyAuto.java
@@ -19,7 +19,9 @@ public MyAuto(Robot robot) {
   }
 
   @Override
-  public void start() {}
+  public void start() {
+    /* Called once when the robot is enabled. */
+  }
 
   /*
    * This method runs periodically, using the same period as the Robot instance.
diff --git a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
index e73f0c2..6d12a12 100644
--- a/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
+++ b/examples/stage1/templates/rev/src/main/java/first/robot/opmode/MyAuto.java
@@ -19,7 +19,9 @@ public MyAuto(Robot robot) {
   }
 
   @Override
-  public void start() {}
+  public void start() {
+    /* Called once when the robot is enabled. */
+  }
 
   /*
    * This method runs periodically, using the same period as the Robot instance.

From 44bddb3c4b9d147d3831fd7d1fa8e10fdf558c64 Mon Sep 17 00:00:00 2001
From: Spaceman 11 <135277197+Spaceman113138@users.noreply.github.com>
Date: Sun, 5 Jul 2026 23:54:08 -0500
Subject: [PATCH 5/5] examples formatting

---
 .../stage1/solutions/rev/src/main/java/first/robot/Robot.java   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java b/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java
index 8488622..f87db4c 100644
--- a/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java
+++ b/examples/stage1/solutions/rev/src/main/java/first/robot/Robot.java
@@ -44,7 +44,7 @@ public class Robot extends OpModeRobot {
   public final DifferentialDrive drivetrain =
       new DifferentialDrive(leftLeader::setThrottle, rightLeader::setThrottle);
 
-/**
+  /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
    */