diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h
index 9ad5286..c204f57 100644
--- a/Commands/Autonomous/AutoDrive.h
+++ b/Commands/Autonomous/AutoDrive.h
@@ -13,7 +13,8 @@
  */
 class AutoDrive: public Command{
   private:
-    double x, y;
+    double x, //<! The x value of the simulated joystick value
+           y; //<! The y value of the simulated joystick value
   public:
     /**
      * @brief Constructs AutoDrive
diff --git a/Commands/Autonomous/Turn.h b/Commands/Autonomous/Turn.h
index 3781a0a..36bea6d 100644
--- a/Commands/Autonomous/Turn.h
+++ b/Commands/Autonomous/Turn.h
@@ -13,7 +13,6 @@
  */
 class Turn: public Command{
   private:
-    int degrees;
   public:
     /**
      * @brief Constructs Turn
diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h
index f9dcb24..57beb54 100644
--- a/Commands/BinElevator/BinLower.h
+++ b/Commands/BinElevator/BinLower.h
@@ -9,7 +9,7 @@
  */
 class BinLower: public Command{
   private:
-    float timeout;
+    float timeout; //<! The timeout
   public:
     /**
      * @brief Constructs BinLower
diff --git a/Commands/BinElevator/BinRaise.h b/Commands/BinElevator/BinRaise.h
index 8eb6932..906b28c 100644
--- a/Commands/BinElevator/BinRaise.h
+++ b/Commands/BinElevator/BinRaise.h
@@ -9,7 +9,7 @@
  */
 class BinRaise: public Command{
   private:
-    float timeout;
+    float timeout; //<! The timeout
   public:
     /**
      * @brief Constructs BinRaise
diff --git a/Commands/Collector/RollIn.h b/Commands/Collector/RollIn.h
index 9c65d76..f60db57 100644
--- a/Commands/Collector/RollIn.h
+++ b/Commands/Collector/RollIn.h
@@ -11,7 +11,7 @@
  */
 class RollIn: public Command{
   private:
-    double rawSpeed;
+    double rawSpeed; //<! Raw speed of the collector
   public:
     /**
      * @brief Constructs RollIn
diff --git a/Commands/Test/CheckDrive.h b/Commands/Test/CheckDrive.h
index 5993405..11fdc6f 100644
--- a/Commands/Test/CheckDrive.h
+++ b/Commands/Test/CheckDrive.h
@@ -11,7 +11,7 @@
  */
 class CheckDrive: public CommandGroup{
   private:
-    int motor;
+    int motor; //<! TODO
   public:
     /**
      * @brief TODO
diff --git a/DentRobot.h b/DentRobot.h
index 59658f2..4c859f9 100644
--- a/DentRobot.h
+++ b/DentRobot.h
@@ -8,24 +8,77 @@
 #include "Subsystems/Collector.h"
 #include "Subsystems/Pneumatics.h"
 #include "Commands/Autonomous/Autonomous.h"
+/**
+ * @brief The Hitchhikers 2015 robot, Dent
+ *
+ * Features a 4-motor collector, 4-motor mecanum drivetrain, two one-motor elevators
+ */
 class DentRobot: public IterativeRobot {
   private:
+    /**
+     * @brief The default driving command
+     */
     Command *driveCommand = NULL;
   public:
+    /**
+     * @brief Constructs DentRobot
+     */
     DentRobot();
+    /**
+     * @brief The 2-joystick OI
+     */
     static OI* oi;
+    /**
+     * @brief The 4-motor Collctor
+     */
     static Collector* collector;
+    /**
+     * @brief The 4-motor mechanum Drivetrain
+     */
     static Drivetrain* drivetrain;
+    /**
+     * @brief The main one-motor Elevator for lifting totes
+     */
     static Elevator* elevator;
+    /**
+     * @brief The back one-motor Elevator for lifting totes or bins
+     */
     static BinElevator* binElevator;
+    /**
+     * @brief The Pneumatics system (UNUSED)
+     */
     static Pneumatics* pneumatics;
+    /**
+     * @brief The Autonomous command
+     */
     static CommandGroup* aut;
+    /**
+     * @brief Initializes the robot
+     */
     void RobotInit();
+    /**
+     * @brief Periodically run when disabled
+     */
     void DisabledPeriodic();
+    /**
+     * @brief Initializes the autonomous period
+     */
     void AutonomousInit();
+    /**
+     * @brief Periodically run when enabled in autonomous
+     */
     void AutonomousPeriodic();
+    /**
+     * @brief Initializes the teleop period
+     */
     void TeleopInit();
+    /**
+     * @brief Periodically run when enabled in autonomous
+     */
     void TeleopPeriodic();
+    /**
+     * @brief Periodically run when enabled in test mode
+     */
     void TestPeriodic();
 };
 #endif
diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h
index e182789..ccf3700 100644
--- a/Subsystems/Collector.h
+++ b/Subsystems/Collector.h
@@ -2,16 +2,46 @@
 #define COLLECTOR_H
 
 #include "WPILib.h"
+/**
+ * @brief Collects totes
+ * 
+ * Uses four motors, two on the sides, one on the bottom, and one on the ramp to collect and eject totes
+ */
 class Collector: public Subsystem
 {
   private:
-    CANTalon *collectorMotorLeft, *collectorMotorBottom, *collectorMotorRamp, *collectorMotorRight;
+    CANTalon *collectorMotorLeft,   //<! Left collector motor
+             *collectorMotorBottom, //<! Bottom collctor motor
+             *collectorMotorRamp,   //<! Ramp collctor motor
+             *collectorMotorRight;  //<! Right collector motor
+    /**
+     * @brief Analog input for sonar (UNUSED)
+     */
     AnalogInput *sonarAnalog;
+    /**
+     * @brief Digital output for sonar (UNUSED)
+     */
     DigitalOutput *sonarDigital;
   public:
+    /**
+     * @brief Constructs Collector
+     */
     Collector();
+    /**
+     * @brief No action
+     */
     void InitDefaultCommand();
+    /**
+     * @brief Moves the collectors
+     *
+     * @param double The speed to run the collectors
+     */
     void MoveRollers(double);
+    /**
+     * @brief Gets the distance of the sonar (UNUSED)
+     *
+     * @return The sonar distance
+     */
     double GetSonarDistance();
 };
 #endif