1 files changed, 59 insertions, 2 deletions

diff --git a/src/org/usfirst/frc/team4272/robotlib/RollingAvg.java b/src/org/usfirst/frc/team4272/robotlib/RollingAvg.java
index 7f0af11..c052099 100644
--- a/src/org/usfirst/frc/team4272/robotlib/RollingAvg.java
+++ b/src/org/usfirst/frc/team4272/robotlib/RollingAvg.java
@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2011, 2016 Luke Shumaker
+ * Copyright (c) 2011, 2016-2017 Luke Shumaker
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -33,7 +33,7 @@ import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.PIDOutput;
 
 /**
- * TODO: Write JavaDocs
+ * RollingAvg implements a rolling average.
  */
 public class RollingAvg implements PIDSource, PIDOutput {
 	private PIDSource source = null;
@@ -41,16 +41,44 @@ public class RollingAvg implements PIDSource, PIDOutput {
 	private double avg;
 	private int i;
 
+	/**
+	 * Construct a RollingAvg that must be updated with the
+	 * {@link #push(double)} or {@link #pidWrite(double)} methods.
+	 *
+	 * @param len The number of samples to keep in the average.
+	 */
 	public RollingAvg(int len) {
 		points = new double[len];
 		i = 0;
 		avg = 0;
 	}
+	/**
+	 * Construct a RollingAvg that will automatically update
+	 * itself from a {@link PIDSource} each time {@link #pidGet()}
+	 * is called.
+	 *
+	 * That is, it wraps the {@link PIDSource} to stabalize any
+	 * noise.
+	 *
+	 * If {@link #pidGet()} is not called an iteration, then it is
+	 * not updated that iteration; so be sure to call it each
+	 * iteration whether or not you actually care about the value.
+	 *
+	 * @param len The number of samples to keep in the average.
+	 * @param src The underlying PIDSource to read from.
+	 */
 	public RollingAvg(int len, PIDSource src) {
 		this(len);
 		source = src;
 	}
 
+	/**
+	 * Push a new value on to the rolling average (pushing out a
+	 * previous value).
+	 *
+	 * @param v The new value to push.
+	 * @return The new average after pushing v.
+	 */
 	public double push(double v) {
 		avg -= points[i];
 		points[i] = v/points.length;
@@ -59,10 +87,26 @@ public class RollingAvg implements PIDSource, PIDOutput {
 		return avg;
 	}
 
+	/**
+	 * Return the current value of the rolling average, without
+	 * mutating anything.
+	 *
+	 * @return The current value of the rolling average.
+	 */
 	public double get() {
 		return avg;
 	}
 
+	/**
+	 * If constructed with an underlying {@link PIDSource}, read from it
+	 * and push the value; returning the new average after pushing
+	 * that value.
+	 *
+	 * If not constructed with an underlying {@link PIDSource},
+	 * then this is simply an alias for {@link #get()}.
+	 *
+	 * @return The value of the rolling average.
+	 */
 	public double pidGet() {
 		if (source!=null)
 			return push(source.pidGet());
@@ -70,15 +114,28 @@ public class RollingAvg implements PIDSource, PIDOutput {
 			return get();
 	}
 
+	/**
+	 * An alias for {@link #push(double)} (but doesn't return the
+	 * new average), in order to implement the {@link PIDOutput}
+	 * interface.
+	 *
+	 * @param output The value to push.
+	 */
 	public void pidWrite(double output) {
 		push(output);
 	}
 
+	/**
+	 * See the documentation for {@link PIDSource#setPIDSourceType(PIDSourceType)}.
+	 */
 	public void setPIDSourceType(PIDSourceType srcType) {
 		if (source!=null)
 			source.setPIDSourceType(srcType);
 	}
 
+	/**
+	 * See the documentation for {@link PIDSource#getPIDSourceType}.
+	 */
 	public PIDSourceType getPIDSourceType() {
 		if (source!=null)
 			return source.getPIDSourceType();