Address review comments

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java

@@ -36,10 +36,10 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
    *     {@link edu.wpi.first.math.system.plant.LinearSystemId#createElevatorSystem(DCMotor, double,
    *     double, double)}.
    * @param gearbox The type of and number of motors in the elevator gearbox.
-   * @param minHeight The min allowable height of the elevator.
-   * @param maxHeight The max allowable height of the elevator.
+   * @param minHeight The min allowable height of the elevator in meters.
+   * @param maxHeight The max allowable height of the elevator in meters.
    * @param simulateGravity Whether gravity should be simulated or not.
-   * @param startingHeight The starting height of the elevator.
+   * @param startingHeight The starting height of the elevator in meters.
    * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
    *     noise is desired. If present must have 1 element for position.
    */
@@ -98,8 +98,8 @@ public ElevatorSim(
    *
    * @param gearbox The type of and number of motors in the elevator gearbox.
    * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
-   * @param carriageMass The mass of the elevator carriage.
-   * @param drumRadius The radius of the drum that the elevator spool is wrapped around.
+   * @param carriageMass The mass of the elevator carriage in kg.
+   * @param drumRadius The radius of the drum that the elevator spool is wrapped around in meters.
    * @param minHeight The min allowable height of the elevator.
    * @param maxHeight The max allowable height of the elevator.
    * @param simulateGravity Whether gravity should be simulated or not.
@@ -141,7 +141,7 @@ public final void setState(double position, double velocity) {
   /**
    * Returns whether the elevator would hit the lower limit.
    *
-   * @param elevatorHeight The elevator height.
+   * @param elevatorHeight The elevator height in meters.
    * @return Whether the elevator would hit the lower limit.
    */
   public boolean wouldHitLowerLimit(double elevatorHeight) {
@@ -151,7 +151,7 @@ public boolean wouldHitLowerLimit(double elevatorHeight) {
   /**
    * Returns whether the elevator would hit the upper limit.
    *
-   * @param elevatorHeight The elevator height.
+   * @param elevatorHeight The elevator height in meters.
    * @return Whether the elevator would hit the upper limit.
    */
   public boolean wouldHitUpperLimit(double elevatorHeight) {
@@ -226,7 +226,7 @@ public void setInputVoltage(double volts) {
    *
    * @param currentXhat The current state estimate.
    * @param u The system inputs (voltage).
-   * @param dt The time difference between controller updates.
+   * @param dt The time difference between controller updates in seconds.
    */
   @Override
   protected Matrix<N2, N1> updateX(Matrix<N2, N1> currentXhat, Matrix<N1, N1> u, double dt) {

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java

@@ -171,7 +171,7 @@ public void setState(Matrix<States, N1> state) {
    *
    * @param currentXhat The current state estimate.
    * @param u The system inputs (usually voltage).
-   * @param dt The time difference between controller updates.
+   * @param dt The time difference between controller updates in seconds.
    * @return The new state.
    */
   protected Matrix<States, N1> updateX(

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java

@@ -164,7 +164,7 @@ public boolean hasHitUpperLimit() {
    *
    * @return The current arm angle in radians.
    */
-  public double getAngleRads() {
+  public double getAngle() {
     return getOutput(0);
   }
 
@@ -180,7 +180,7 @@ public double getVelocity() {
   /**
    * Returns the arm current draw.
    *
-   * @return The arm current draw.
+   * @return The arm current draw in amps.
    */
   public double getCurrentDraw() {
     // Reductions are greater than 1, so a reduction of 10:1 would mean the motor is

wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/UltrasonicPIDTest.java

@@ -28,7 +28,7 @@ class UltrasonicPIDTest {
   private final DCMotor m_gearbox = DCMotor.getFalcon500(2);
   private static final double kGearing = KitbotGearing.k10p71.value;
   public static final double kvLinear = 1.98; // V/(m/s)
-  public static final double kaLinear = 0.2; // V/m/s²)
+  public static final double kaLinear = 0.2; // V/(m/s²)
   private static final double kvAngular = 1.5; // V/(rad/s)
   private static final double kaAngular = 0.3; // V/(rad/s²)
   private static final double kWheelDiameter = 0.15; // m

wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanTypeFilter.java

@@ -76,7 +76,7 @@ public interface KalmanTypeFilter<States extends Num, Inputs extends Num, Output
    * Project the model into the future with a new control input u.
    *
    * @param u New control input from controller.
-   * @param dt Timestep for prediction.
+   * @param dt Timestep for prediction in seconds.
    */
   void predict(Matrix<Inputs, N1> u, double dt);
 

wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java

@@ -65,9 +65,9 @@ public ChassisSpeeds(double vx, double vy, double omega) {
   /**
    * Constructs a ChassisSpeeds object.
    *
-   * @param vx Forward velocity in meters per second.
-   * @param vy Sideways velocity in meters per second.
-   * @param omega Angular velocity in radians per second.
+   * @param vx Forward velocity.
+   * @param vy Sideways velocity.
+   * @param omega Angular velocity.
    */
   public ChassisSpeeds(LinearVelocity vx, LinearVelocity vy, AngularVelocity omega) {
     this(vx.in(MetersPerSecond), vy.in(MetersPerSecond), omega.in(RadiansPerSecond));
@@ -126,10 +126,10 @@ public static ChassisSpeeds discretize(double vx, double vy, double omega, doubl
    * <p>This is useful for compensating for translational skew when translating and rotating a
    * swerve drivetrain.
    *
-   * @param vx Forward velocity in meters per second.
-   * @param vy Sideways velocity in meters per second.
-   * @param omega Angular velocity in radians per second.
-   * @param dt The duration of the timestep in seconds the speeds should be applied for.
+   * @param vx Forward velocity.
+   * @param vy Sideways velocity.
+   * @param omega Angular velocity.
+   * @param dt The duration of the timestep the speeds should be applied for.
    * @return Discretized ChassisSpeeds.
    * @deprecated Use instance method instead.
    */

wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java

@@ -100,8 +100,8 @@ public Twist2d toTwist2d(
    * distance deltas. This method is often used for odometry -- determining the robot's position on
    * the field using changes in the distance driven by each wheel on the robot.
    *
-   * @param leftDistance The distance measured by the left side encoder.
-   * @param rightDistance The distance measured by the right side encoder.
+   * @param leftDistance The distance measured by the left side encoder in meters.
+   * @param rightDistance The distance measured by the right side encoder in meters.
    * @return The resulting Twist2d.
    */
   public Twist2d toTwist2d(double leftDistance, double rightDistance) {

wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java

@@ -94,8 +94,8 @@ public double getCurrent(double torque) {
   /**
    * Calculate torque produced by the motor with a given current.
    *
-   * @param current The current drawn by the motor.
-   * @return The torque output.
+   * @param current The current drawn by the motor in amps.
+   * @return The torque output in Newton-meters.
    */
   public double getTorque(double current) {
     return current * Kt;

wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java

@@ -84,7 +84,7 @@ public Pose2d getInitialPose() {
   /**
    * Returns the overall duration of the trajectory.
    *
-   * @return The duration of the trajectory.
+   * @return The duration of the trajectory in seconds.
    */
   public double getTotalTime() {
     return m_totalTime;