diff --git a/src/main/java/common/core/NAR_Robot.java b/src/main/java/common/core/NAR_Robot.java
index 29c902c..01b999f 100644
--- a/src/main/java/common/core/NAR_Robot.java
+++ b/src/main/java/common/core/NAR_Robot.java
@@ -13,6 +13,11 @@
 import edu.wpi.first.wpilibj.IterativeRobotBase;
 import edu.wpi.first.wpilibj.Timer;
 
+/**
+ * Team 3128's Robot class that includes advantageScope and addPeriodic
+ * @since 2023 CHARGED UP
+ * @author Mason Lam
+ */
 public class NAR_Robot extends IterativeRobotBase {
     @SuppressWarnings("MemberName")
   static class Callback implements Comparable<Callback> {
diff --git a/src/main/java/common/core/controllers/Controller.java b/src/main/java/common/core/controllers/Controller.java
index 9eb98a6..6169d32 100644
--- a/src/main/java/common/core/controllers/Controller.java
+++ b/src/main/java/common/core/controllers/Controller.java
@@ -42,6 +42,7 @@ public Controller(double kP, double kI, double kD, double period) {
         kG_Function = () -> 1;
         consumers = new LinkedList<DoubleConsumer>();
     }
+
     /**
      * Create a new object to control PID logic for a subsystem.
      * <p>Sets kP, kI, kD values.
@@ -66,6 +67,7 @@ public Controller(double kP, double kI, double kD) {
     public void setMeasurementSource(DoubleSupplier measurement) {
         this.measurement = measurement;
     }
+
     /**
      * Adds a motor set method to consumers to be later used during PID logic.
      * @see LinkedList consumers: includes void functions that accept double values.
@@ -74,6 +76,7 @@ public void setMeasurementSource(DoubleSupplier measurement) {
     public void addMotor(NAR_Motor motor) {
         consumers.add(motor::set);
     }
+
     /**
      * Adds a useOutput method to consumers to be later used during PID logic.
      * @see LinkedList consumers: includes void functions that accept double values.
@@ -82,6 +85,7 @@ public void addMotor(NAR_Motor motor) {
     public void addOutput(DoubleConsumer output) {
         consumers.add(output);
     }
+
     /**
      * Calculates the output based on calculations from the measurement, then gives each DoubleConsumer in consumers the output as an argument.
      * @return calculated output based on calculations from the measurement
@@ -95,6 +99,7 @@ public double useOutput() {
         }
         return output;
     }
+
     /**
      * Sets the kG_Function to a new DoubleSupplier.
      * @param kG_Function DoubleSupplier with specified logic.
@@ -102,6 +107,7 @@ public double useOutput() {
     public void setkG_Function(DoubleSupplier kG_Function) {
         this.kG_Function = kG_Function;
     }
+
     /**
      * Sets the kS value.
      * @param kS The constant power required to overcome static friction as a double.
@@ -109,6 +115,7 @@ public void setkG_Function(DoubleSupplier kG_Function) {
     public void setkS(double kS) {
         setkS(()-> kS);
     }
+
     /**
      * Sets the kS value.
      * @param kS The constant power required to overcome static friction as a DoubleSupplier.
@@ -116,6 +123,7 @@ public void setkS(double kS) {
     public void setkS(DoubleSupplier kS) {
         this.kS = kS;
     }
+
     /**
      * Sets the kV value.
      * @param kV The constant power required to maintain a set velocity as a double.
@@ -123,6 +131,7 @@ public void setkS(DoubleSupplier kS) {
     public void setkV(double kV) {
         setkV(()-> kV);
     }
+
     /**
      * Sets the kV value.
      * @param kV The constant power required to maintain a set velocity as a DoubleSupplier.
@@ -130,6 +139,7 @@ public void setkV(double kV) {
     public void setkV(DoubleSupplier kV) {
         this.kV = kV;
     }
+
     /**
      * Sets the kG value.
      * @param kG The constant power required to overcome gravity as a double.
@@ -137,6 +147,7 @@ public void setkV(DoubleSupplier kV) {
     public void setkG(double kG) {
         this.kG = ()-> kG;
     }
+
     /**
      * Sets the kG value.
      * @param kG The constant power required to overcome gravity as a DoubleSupplier.
@@ -144,6 +155,7 @@ public void setkG(double kG) {
     public void setkG(DoubleSupplier kG) {
         this.kG = kG;
     }
+
     /**
      * Returns kS.
      * @return returns kS as a double.
@@ -151,6 +163,7 @@ public void setkG(DoubleSupplier kG) {
     public double getkS() {
         return kS.getAsDouble();
     }
+
     /**
      * Returns kV.
      * @return returns kV as a double.
@@ -158,6 +171,7 @@ public double getkS() {
     public double getkV() {
         return kV.getAsDouble();
     }
+    
     /**
      * Returns kG.
      * @return returns kG as a double.
diff --git a/src/main/java/common/core/controllers/PController.java b/src/main/java/common/core/controllers/PController.java
index 60701e5..8d392ab 100644
--- a/src/main/java/common/core/controllers/PController.java
+++ b/src/main/java/common/core/controllers/PController.java
@@ -8,55 +8,56 @@
  * @author Mason Lam, William Yuan
  */
 public class PController extends Controller {
+    /**
+     * Create a new object to control position PID logic for a subsystem.
+     * <p>Sets kP, kI, kD, period values.
+     * <p>Sets kS, kG values.
+     * <p>Defaults kG_Function to 1.
+     * 
+     * @param kS The constant power required to overcome static friction.
+     * @param kG The constant power required to overcome gravity.
+     * @param kP The proportional coefficient of the on board PIDController.
+     * @param kI The integral coefficient of the on board PIDController.
+     * @param kD The derivative coefficient of the on board PIDController.
+     * @param period The PID periodic update rate in seconds.
+     */
+    public PController(double kS, double kG, double kP, double kI, double kD, double period) {
+        super(kP, kI, kD, period);
+        setkS(()-> kS);
+        setkG(()-> kG);
+        setkG_Function(() -> 1);
+    }
     
-        /**
-         * Create a new object to control position PID logic for a subsystem.
-         * <p>Sets kP, kI, kD, period values.
-         * <p>Sets kS, kG values.
-         * <p>Defaults kG_Function to 1.
-         * 
-         * @param kS The constant power required to overcome static friction.
-         * @param kG The constant power required to overcome gravity.
-         * @param kP The proportional coefficient of the on board PIDController.
-         * @param kI The integral coefficient of the on board PIDController.
-         * @param kD The derivative coefficient of the on board PIDController.
-         * @param period The PID periodic update rate in seconds.
-         */
-        public PController(double kS, double kG, double kP, double kI, double kD, double period) {
-            super(kP, kI, kD, period);
-            setkS(()-> kS);
-            setkG(()-> kG);
-            setkG_Function(() -> 1);
-        }
-        /**
-         * Create a new object to control position PID logic for a subsystem.
-         * <p>Sets kP, kI, kD values.
-         * <p>Sets kS, kG values.
-         * <p>Defaults kG_Function to 1.
-         * <p>Defaults period to 0.02.
-         * 
-         * @param kS The constant power required to overcome static friction.
-         * @param kG The constant power required to overcome gravity.
-         * @param kP The proportional coefficient of the on board PIDController.
-         * @param kI The integral coefficient of the on board PIDController.
-         * @param kD The derivative coefficient of the on board PIDController.
-         */
-        public PController(double kS, double kG, double kP, double kI, double kD) {
-            this(kS, kG, kP, kI, kD, 0.02);
-        }
-        /**
-         * Overrides the calculate method in {@link PIDController} to use PID and FF logic.
-         * <p>Uses kG instead of kV.
-         * 
-         * @param measurement The desired setpoint for the subsystem.
-         * 
-         * @return the output from PID and FF.
-         */
-        @Override
-        public double calculate(double measurement) {
-            final double pid = super.calculate(measurement);
-            final double ff = !atSetpoint() ? Math.copySign(getkS(), pid) : 0 + getkG() * kG_Function.getAsDouble();
-            return pid + ff;
-        }
-        
+    /**
+     * Create a new object to control position PID logic for a subsystem.
+     * <p>Sets kP, kI, kD values.
+     * <p>Sets kS, kG values.
+     * <p>Defaults kG_Function to 1.
+     * <p>Defaults period to 0.02.
+     * 
+     * @param kS The constant power required to overcome static friction.
+     * @param kG The constant power required to overcome gravity.
+     * @param kP The proportional coefficient of the on board PIDController.
+     * @param kI The integral coefficient of the on board PIDController.
+     * @param kD The derivative coefficient of the on board PIDController.
+     */
+    public PController(double kS, double kG, double kP, double kI, double kD) {
+        this(kS, kG, kP, kI, kD, 0.02);
     }
+
+    /**
+     * Overrides the calculate method in {@link PIDController} to use PID and FF logic.
+     * <p>Uses kG instead of kV.
+     * 
+     * @param measurement The desired setpoint for the subsystem.
+     * 
+     * @return the output from PID and FF.
+     */
+    @Override
+    public double calculate(double measurement) {
+        final double pid = super.calculate(measurement);
+        final double ff = !atSetpoint() ? Math.copySign(getkS(), pid) : 0 + getkG() * kG_Function.getAsDouble();
+        return pid + ff;
+    }
+        
+}
diff --git a/src/main/java/common/core/controllers/VController.java b/src/main/java/common/core/controllers/VController.java
index 6b751bc..7f96084 100644
--- a/src/main/java/common/core/controllers/VController.java
+++ b/src/main/java/common/core/controllers/VController.java
@@ -9,51 +9,53 @@
  * @author Mason Lam, William Yuan
  */
 public class VController extends Controller {
-         /**
-         * Create a new object to control velocity PID logic for a subsystem.
-         * <p>Sets kP, kI, kD, period values.
-         * <p>Sets kS, kV values.
-         * 
-         * @param kS The constant power required to overcome static friction.
-         * @param kV The constant power required to maintain a set velocity.
-         * @param kP The proportional coefficient of the on board PIDController.
-         * @param kI The integral coefficient of the on board PIDController.
-         * @param kD The derivative coefficient of the on board PIDController.
-         * @param period The PID periodic update rate in seconds.
-         */
-        public VController(double kS, double kV, double kP, double kI, double kD, double period) {
-            super(kP, kI, kD, period);
-            setkS(()-> kS);
-            setkV(()-> kV);
-        }
-        /**
-         * Create a new object to control velocity PID logic for a subsystem.
-         * <p>Sets kP, kI, kD values.
-         * <p>Sets kS, kV values.
-         * <p>Defaults period to 0.02.
-         * 
-         * @param kS The constant power required to overcome static friction.
-         * @param kV The constant power required to maintain a set velocity.
-         * @param kP The proportional coefficient of the on board PIDController.
-         * @param kI The integral coefficient of the on board PIDController.
-         * @param kD The derivative coefficient of the on board PIDController.
-         */
-        public VController(double kS, double kV, double kP, double kI, double kD) {
-            this(kS, kV, kP, kI, kD, 0.02);
-        }
-        /**
-         * Overrides the calculate method in {@link PIDController} to use PID and FF logic.
-         * <p>Uses kV instead of kG.
-         * 
-         * @param measurement The desired setpoint for the subsystem.
-         * 
-         * @return the output from PID and FF.
-         */
-        @Override
-        public double calculate(double measurement) {
-            final double pid = super.calculate(measurement);
-            final double ff = !atSetpoint() ? Math.copySign(getkS(), pid) : 0 + getkV() * getSetpoint();
-            return pid + ff;
-        }
-        
+    /**
+     * Create a new object to control velocity PID logic for a subsystem.
+     * <p>Sets kP, kI, kD, period values.
+     * <p>Sets kS, kV values.
+     * 
+     * @param kS The constant power required to overcome static friction.
+     * @param kV The constant power required to maintain a set velocity.
+     * @param kP The proportional coefficient of the on board PIDController.
+     * @param kI The integral coefficient of the on board PIDController.
+     * @param kD The derivative coefficient of the on board PIDController.
+     * @param period The PID periodic update rate in seconds.
+     */
+    public VController(double kS, double kV, double kP, double kI, double kD, double period) {
+        super(kP, kI, kD, period);
+        setkS(()-> kS);
+        setkV(()-> kV);
+    }
+
+    /**
+     * Create a new object to control velocity PID logic for a subsystem.
+     * <p>Sets kP, kI, kD values.
+     * <p>Sets kS, kV values.
+     * <p>Defaults period to 0.02.
+     * 
+     * @param kS The constant power required to overcome static friction.
+     * @param kV The constant power required to maintain a set velocity.
+     * @param kP The proportional coefficient of the on board PIDController.
+     * @param kI The integral coefficient of the on board PIDController.
+     * @param kD The derivative coefficient of the on board PIDController.
+     */
+    public VController(double kS, double kV, double kP, double kI, double kD) {
+        this(kS, kV, kP, kI, kD, 0.02);
     }
+
+    /**
+     * Overrides the calculate method in {@link PIDController} to use PID and FF logic.
+     * <p>Uses kV instead of kG.
+     * 
+     * @param measurement The desired setpoint for the subsystem.
+     * 
+     * @return the output from PID and FF.
+     */
+    @Override
+    public double calculate(double measurement) {
+        final double pid = super.calculate(measurement);
+        final double ff = !atSetpoint() ? Math.copySign(getkS(), pid) : 0 + getkV() * getSetpoint();
+        return pid + ff;
+    }
+        
+}
diff --git a/src/main/java/common/hardware/camera/Camera.java b/src/main/java/common/hardware/camera/Camera.java
index 75a1db1..9c7f9cf 100644
--- a/src/main/java/common/hardware/camera/Camera.java
+++ b/src/main/java/common/hardware/camera/Camera.java
@@ -5,7 +5,7 @@
 /**
  * Represents and holds the specs of a camera.
  * 
- * @since 2023 Charged Up
+ * @since 2022 RAPID REACT
  * @author Mason Lam, William Yuan
  */
 public class Camera {
diff --git a/src/main/java/common/hardware/input/NAR_ButtonBoard.java b/src/main/java/common/hardware/input/NAR_ButtonBoard.java
index 1ae1776..0b6f384 100644
--- a/src/main/java/common/hardware/input/NAR_ButtonBoard.java
+++ b/src/main/java/common/hardware/input/NAR_ButtonBoard.java
@@ -5,7 +5,7 @@
 
 /**
  * Wrapper for the WPILib Joystick class. Works with device that can be recognized as joystick as driverstation.
- * @since 2023 Charged Up
+ * @since 2023 Charged UP
  * @author Peter Ma, Arav Chadha
  */
 public class NAR_ButtonBoard {
diff --git a/src/main/java/common/hardware/motorcontroller/NAR_CANSparkMax.java b/src/main/java/common/hardware/motorcontroller/NAR_CANSparkMax.java
index cd4fbd2..779bd0b 100644
--- a/src/main/java/common/hardware/motorcontroller/NAR_CANSparkMax.java
+++ b/src/main/java/common/hardware/motorcontroller/NAR_CANSparkMax.java
@@ -24,6 +24,9 @@
  * @author Mason Lam
  */
 public class NAR_CANSparkMax extends NAR_Motor {
+	/**
+	 * Team 3128's status frames
+	 */
 	public enum SparkMaxConfig {
 		DEFAULT(MAX_PRIORITY, HIGH_PRIORITY, HIGH_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY),
 		FOLLOWER(MEDIUM_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY, NO_PRIORITY),
@@ -44,6 +47,9 @@ private SparkMaxConfig(int status0, int status1, int status2, int status3, int s
 		}
 	}
 
+	/**
+	 * Type of encoder used
+	 */
     public enum EncoderType {
 		Relative,
 		Absolute
@@ -250,8 +256,15 @@ public void enableContinuousInput(double minInput, double maxInput) {
 	 */
 	public void enableContinuousInput(double minInput, double maxInput, double factor) {
 		controller.setPositionPIDWrappingEnabled(true);
-		controller.setPositionPIDWrappingMinInput(minInput * factor);
-		controller.setPositionPIDWrappingMaxInput(maxInput * factor);
+		controller.setPositionPIDWrappingMinInput(minInput / factor);
+		controller.setPositionPIDWrappingMaxInput(maxInput / factor);
+	}
+
+	/**
+	 * Burns all settings to flash; stores settings between power cycles
+	 */
+	public void burnFlash() {
+		motor.burnFlash();
 	}
 
 	@Override
@@ -264,11 +277,6 @@ protected void setPercentOutput(double speed) {
         controller.setReference(speed, ControlType.kDutyCycle);
     }
 
-    @Override
-    protected void setVoltage(double volts) {
-        controller.setReference(volts, ControlType.kVoltage);
-    }
-
     @Override
     protected void setVelocity(double rpm, double feedForward) {
         controller.setReference(rpm, ControlType.kVelocity, 0, feedForward);
diff --git a/src/main/java/common/hardware/motorcontroller/NAR_Motor.java b/src/main/java/common/hardware/motorcontroller/NAR_Motor.java
index 19dce5e..d20450d 100644
--- a/src/main/java/common/hardware/motorcontroller/NAR_Motor.java
+++ b/src/main/java/common/hardware/motorcontroller/NAR_Motor.java
@@ -7,6 +7,11 @@
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 
+/**
+ * Team 3128's motor class wrapper replacement for {@link MotorController}
+ * @since CHARGED UP 2023
+ * @author Mason Lam
+ */
 public abstract class NAR_Motor {
     private static final HashSet<NAR_Motor> leaders = new HashSet<NAR_Motor>();
 
@@ -21,13 +26,18 @@ public abstract class NAR_Motor {
         }, 0.1);
     }
 
+    /**
+     * Motor control modes
+     */
     public enum Control {
         PercentOutput,
-        Voltage,
         Velocity,
         Position;
     }
 
+    /**
+     * Motor states when no voltage is applied
+     */
     public enum Neutral {
         BRAKE,
         COAST
@@ -40,37 +50,29 @@ public enum Neutral {
     protected double unitConversionFactor = 1;
     protected double timeConversionFactor = 1;
 
-    public void follow(NAR_Motor leader) {
-        leader.followers.add(this);
-        leaders.add(leader);
-    }
-
-    public abstract void enableVoltageCompensation(double volts);
-
-    public void setNeutralMode(Neutral mode) {
-        switch(mode) {
-            case BRAKE:
-                setBrakeMode();
-                break;
-            case COAST:
-                setCoastMode();
-                break;
-        }
-    }
-
-    protected abstract void setBrakeMode();
-
-    protected abstract void setCoastMode();
-
-
+    /**
+     * Sets motor output power
+     * @param output The speed of the motor from -1 to 1
+     */
     public void set(double output) {
         set(output, Control.PercentOutput);
     }
 
+    /**
+     * Sets the motor state
+     * @param value Output of motor dependent on control mode
+     * @param mode Type of control mode
+     */
     public void set(double value, Control mode) {
         set(value, mode, 0);
     }
 
+    /**
+     * Sets the motor state with feedforward
+     * @param value Output of motor dependent on control mode
+     * @param mode Type of control mode
+     * @param feedForward Feedforward of motor measured in volts
+     */
     public void set(double value, Control mode, double feedForward) {
         if (value == prevValue && mode == prevMode && feedForward == prevFeedForward) return;
         prevValue = value;
@@ -80,55 +82,148 @@ public void set(double value, Control mode, double feedForward) {
             case PercentOutput:
                 setPercentOutput(MathUtil.clamp(value, -1, 1));
                 break;
-            case Voltage:
-                setVoltage(MathUtil.clamp(value, -12, 12));
-                break;
             case Velocity:
-                setVelocity(value, feedForward);
+                setVelocity(value / unitConversionFactor * timeConversionFactor, feedForward);
                 break;
             case Position:
-                setPosition(value, feedForward);
+                setPosition(value / unitConversionFactor, feedForward);
                 break;
         }
     }
 
+    /**
+     * Changes the units the motor measures position in, ie. rotations -> degrees
+     * @param conversionFactor Conversion factor to change position units
+     */
     public void setUnitConversionFactor(double conversionFactor) {
         this.unitConversionFactor = conversionFactor;
     }
 
+    /**
+     * Changes the units the motor measures time/velocity in, ie. rotations per minute -> rotations per second
+     * @param conversionFactor Conversion factor to change time units
+     */
     public void setTimeConversionFactor(double conversionFactor) {
         this.timeConversionFactor = conversionFactor;
     }
 
-    public void resetPosition(double units) {
-        resetPosition(units * unitConversionFactor);
+    /**
+     * Resets the motor position
+     * @param position Motor position, default units - rotations
+     */
+    public void resetPosition(double position) {
+        resetRawPosition(position / unitConversionFactor);
     }
 
+    /**
+     * Sets the motor inverted
+     * @param inverted Inverts the motor
+     */
     public abstract void setInverted(boolean inverted);
 
+    /**
+     * Sets motor output power
+     * @param speed The speed of the motor from -1 to 1
+     */
     protected abstract void setPercentOutput(double speed);
 
-    protected abstract void setVoltage(double volts);
-
+    /**
+     * Sets the motor output based on its velocity
+     * @param rpm Velocity of the motor in RPM
+     * @param feedForward Feedforward component measured in volts
+     */
     protected abstract void setVelocity(double rpm, double feedForward);
 
+    /**
+     * Sets motor output based on its position
+     * @param rotations Position of the motor in rotations
+     * @param feedForward Feedforward component measured in volts
+     */
     protected abstract void setPosition(double rotations, double feedForward);
 
+    /**
+     * Resets the motor position
+     * @param rotations Number of rotations
+     */
     protected abstract void resetRawPosition(double rotations);
 
+    /**
+     * Gets the motors current output
+     * @return Double measuring percent output from -1 to 1
+     */
     public abstract double getAppliedOutput();
 
+    /**
+     * Returns the current motor position, default unit - rotations
+     * @return Double measuring motor position
+     */
     public double getPosition() {
-        return getRawPosition() / unitConversionFactor;
+        return getRawPosition() * unitConversionFactor;
     }
 
+    /**
+     * Returns the current motor velocity, default unit - RPM
+     * @return Double measuring motor velocity
+     */
     public double getVelocity() {
-        return getRawVelocity() / unitConversionFactor / timeConversionFactor;
+        return getRawVelocity() * unitConversionFactor / timeConversionFactor;
     }
 
+    /**
+     * Returns the motor position in rotations
+     * @return Double measuring motor position
+     */
     protected abstract double getRawPosition();
 
+    /**
+     * Returns the current motor velocity in RPM
+     * @return Double measuring motor velocity
+     */
     protected abstract double getRawVelocity();
 
+    /**
+     * Sets a motor's output based on anothers
+     * @param leader The motor to follow
+     */
+    public void follow(NAR_Motor leader) {
+        leader.followers.add(this);
+        leaders.add(leader);
+    }
+
+    /**
+     * Sets the motor's idle mode, its behavior when no voltage is applied
+     * @param mode Type of idle mode
+     */
+    public void setNeutralMode(Neutral mode) {
+        switch(mode) {
+            case BRAKE:
+                setBrakeMode();
+                break;
+            case COAST:
+                setCoastMode();
+                break;
+        }
+    }
+
+    /**
+     * Sets the motor in brake mode
+     */
+    protected abstract void setBrakeMode();
+
+    /**
+     * Sets the motor in coast mode
+     */
+    protected abstract void setCoastMode();
+
+    /**
+     * Sets voltage compensation, keeps output consistent when battery is above x volts
+     * @param volts The max volts the motor goes too
+     */
+    public abstract void enableVoltageCompensation(double volts);
+
+    /**
+     * Returns the motor object controlling the motion
+     * @return The motor ie. SparkMax, TalonFX
+     */
     public abstract MotorController getMotor();
 }
diff --git a/src/main/java/common/hardware/motorcontroller/NAR_TalonFX.java b/src/main/java/common/hardware/motorcontroller/NAR_TalonFX.java
index a75d443..2abc3bd 100644
--- a/src/main/java/common/hardware/motorcontroller/NAR_TalonFX.java
+++ b/src/main/java/common/hardware/motorcontroller/NAR_TalonFX.java
@@ -158,11 +158,6 @@ protected void setPercentOutput(double speed) {
         motor.set(speed);
     }
 
-    @Override
-    protected void setVoltage(double volts) {
-        motor.set(volts / 12.0);
-    }
-
     @Override
     protected void setVelocity(double rpm, double feedForward) {
         motor.set(ControlMode.Velocity, rpm * RPM_TO_FALCON, DemandType.ArbitraryFeedForward, feedForward / 12.0);
diff --git a/src/main/java/common/hardware/motorcontroller/NAR_TalonSRX.java b/src/main/java/common/hardware/motorcontroller/NAR_TalonSRX.java
index 0fe544a..c36359b 100644
--- a/src/main/java/common/hardware/motorcontroller/NAR_TalonSRX.java
+++ b/src/main/java/common/hardware/motorcontroller/NAR_TalonSRX.java
@@ -6,6 +6,11 @@
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
+/**
+ * Team 3128's streamlined {@link WPI_TalonSRX} class.
+ * @since 2023 CHARGED UP
+ * @author Mason Lam
+ */
 public class NAR_TalonSRX extends NAR_Motor {
 
 	protected WPI_TalonSRX motor;
@@ -43,11 +48,6 @@ protected void setPercentOutput(double speed) {
 		motor.set(speed);
 	}
 
-	@Override
-	protected void setVoltage(double volts) {
-		motor.set(volts / 12.0);
-	}
-
 	@Override
 	protected void setVelocity(double rpm, double feedForward) {
 		motor.set(ControlMode.Velocity, rpm * RPM_TO_TALONSRX, DemandType.ArbitraryFeedForward, feedForward / 12.0);
diff --git a/src/main/java/common/narwhaldashboard/NarwhalDashboard.java b/src/main/java/common/narwhaldashboard/NarwhalDashboard.java
index 5a5cb83..12efd22 100644
--- a/src/main/java/common/narwhaldashboard/NarwhalDashboard.java
+++ b/src/main/java/common/narwhaldashboard/NarwhalDashboard.java
@@ -120,7 +120,7 @@ public void addAutos(String... names) {
 
     /** 
      * Called after connecting to the web server
-	 * @param conn The <tt>WebSocket</tt> instance this event is occuring on.
+	 * @param conn The WebSocket instance this event is occuring on.
 	 * @param handshake The handshake of the websocket instance
 	 */
     @SuppressWarnings("unchecked")
@@ -197,7 +197,7 @@ public void addButton(String key, BooleanConsumer button) {
 
     /**
 	 * Called when a message from the web server is sent
-	 * @param conn The <tt>WebSocket</tt> instance this event is occurring on.
+	 * @param conn The WebSocket instance this event is occurring on.
 	 * @param message The UTF-8 decoded message that was received.
 	 */
     @Override