Add/copy missing docs, some cleanup

romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/OnBoardIO.java

@@ -31,8 +31,11 @@ public class OnBoardIO {
   private static final double MESSAGE_INTERVAL = 1.0;
   private double m_nextMessageTime;
 
+  /** Mode for Romi onboard IO channel */
   public enum ChannelMode {
+    /** Input */
     INPUT,
+    /** Output */
     OUTPUT
   }
 

romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiGyro.java

@@ -8,6 +8,12 @@
 import edu.wpi.first.hal.SimDevice.Direction;
 import edu.wpi.first.hal.SimDouble;
 
+/**
+ * Use a rate gyro to return the robots heading relative to a starting position.
+ *
+ * <p>This class is for the Romi onboard gyro, and will only work in simulation/Romi mode. Only one
+ * instance of a RomiGyro is supported.
+ */
 public class RomiGyro {
   private final SimDevice m_simDevice;
   private final SimDouble m_simRateX;
@@ -130,10 +136,27 @@ public void reset() {
     }
   }
 
+  /**
+   * Return the actual angle in degrees that the robot is currently facing.
+   *
+   * <p>The angle is based on integration of the returned rate form the gyro. The angle is
+   * continuous, that is, it will continue from 360->361 degrees. This allows algorithms that
+   * wouldn't want to see a discontinuity in the gyro output as it sweeps from 360 to 0 on the
+   * second time around.
+   *
+   * @return the current heading of the robot in degrees.
+   */
   public double getAngle() {
     return getAngleZ();
   }
 
+  /**
+   * Return the rate of rotation of the gyro
+   *
+   * <p>The rate is based on the most recent reading of the gyro.
+   *
+   * @return the current rate in degrees per second
+   */
   public double getRate() {
     return getRateZ();
   }

romiVendordep/src/main/native/include/frc/romi/OnBoardIO.h

@@ -24,7 +24,8 @@ namespace frc {
  */
 class OnBoardIO {
  public:
-  enum ChannelMode { INPUT, OUTPUT };
+  /** Mode for Romi onboard IO */
+  enum ChannelMode { /** Input */ INPUT, /** Output */ OUTPUT };
   OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);
 
   static constexpr auto kMessageInterval = 1_s;

xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPGyro.java

@@ -27,7 +27,11 @@ public class XRPGyro {
   private double m_angleYOffset;
   private double m_angleZOffset;
 
-  /** Create a new XRPGyro. */
+  /**
+   * Constructs an XRPGyro.
+   *
+   * <p>Only one instance of a XRPGyro is supported.
+   */
   public XRPGyro() {
     m_simDevice = SimDevice.create("Gyro:XRPGyro");
     if (m_simDevice != null) {

xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPMotor.java

@@ -44,7 +44,11 @@ private static void checkDeviceAllocation(int deviceNum) {
   private final SimDouble m_simSpeed;
   private final SimBoolean m_simInverted;
 
-  /** XRPMotor. */
+  /**
+   * Constructs an XRPMotor.
+   *
+   * @param deviceNum the motor channel
+   */
   public XRPMotor(int deviceNum) {
     checkDeviceAllocation(deviceNum);
 

xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPServo.java

@@ -38,7 +38,11 @@ private static void checkDeviceAllocation(int deviceNum) {
 
   private final SimDouble m_simPosition;
 
-  /** XRPServo. */
+  /**
+   * Constructs an XRPServo.
+   *
+   * @param deviceNum the servo channel
+   */
   public XRPServo(int deviceNum) {
     checkDeviceAllocation(deviceNum);
 
@@ -58,18 +62,18 @@ public XRPServo(int deviceNum) {
   /**
    * Set the servo angle.
    *
-   * @param angle Desired angle in degrees
+   * @param angleDegrees Desired angle in degrees
    */
-  public void setAngle(double angle) {
-    if (angle < 0.0) {
-      angle = 0.0;
+  public void setAngle(double angleDegrees) {
+    if (angleDegrees < 0.0) {
+      angleDegrees = 0.0;
     }
 
-    if (angle > 180.0) {
-      angle = 180.0;
+    if (angleDegrees > 180.0) {
+      angleDegrees = 180.0;
     }
 
-    double pos = angle / 180.0;
+    double pos = angleDegrees / 180.0;
 
     if (m_simPosition != null) {
       m_simPosition.set(pos);
@@ -92,19 +96,19 @@ public double getAngle() {
   /**
    * Set the servo position.
    *
-   * @param pos Desired position (Between 0.0 and 1.0)
+   * @param position Desired position (Between 0.0 and 1.0)
    */
-  public void setPosition(double pos) {
-    if (pos < 0.0) {
-      pos = 0.0;
+  public void setPosition(double position) {
+    if (position < 0.0) {
+      position = 0.0;
     }
 
-    if (pos > 1.0) {
-      pos = 1.0;
+    if (position > 1.0) {
+      position = 1.0;
     }
 
     if (m_simPosition != null) {
-      m_simPosition.set(pos);
+      m_simPosition.set(position);
     }
   }
 

xrpVendordep/src/main/native/include/frc/xrp/XRPGyro.h

@@ -16,6 +16,11 @@ namespace frc {
  */
 class XRPGyro {
  public:
+  /**
+   * Constructs an XRPGyro.
+   *
+   * <p>Only one instance of a XRPGyro is supported.
+   */
   XRPGyro();
 
   /**

xrpVendordep/src/main/native/include/frc/xrp/XRPMotor.h

@@ -20,6 +20,11 @@ WPI_IGNORE_DEPRECATED
 
 class XRPMotor : public frc::MotorController, public frc::MotorSafety {
  public:
+  /**
+   * Constructs an XRPMotor.
+   *
+   * @param deviceNum the motor channel
+   */
   explicit XRPMotor(int deviceNum);
 
   void Set(double value) override;

xrpVendordep/src/main/native/include/frc/xrp/XRPServo.h

@@ -12,14 +12,45 @@
 
 namespace frc {
 
+/**
+ * XRPServo.
+ *
+ * <p>A SimDevice based servo
+ */
 class XRPServo {
  public:
+  /**
+   * Constructs an XRPServo.
+   * @param deviceNum the servo channel
+   */
   explicit XRPServo(int deviceNum);
 
+  /**
+   * Set the servo angle.
+   *
+   * @param angleDegrees Desired angle in degrees
+   */
   void SetAngle(double angleDegrees);
+
+  /**
+   * Get the servo angle.
+   *
+   * @return Current servo angle
+   */
   double GetAngle() const;
 
+  /**
+   * Set the servo position.
+   *
+   * @param position Desired position (Between 0.0 and 1.0)
+   */
   void SetPosition(double position);
+
+  /**
+   * Get the servo position.
+   *
+   * @return Current servo position
+   */
   double GetPosition() const;
 
  private: