diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h
index 6fa66ef..9ad5286 100644
--- a/Commands/Autonomous/AutoDrive.h
+++ b/Commands/Autonomous/AutoDrive.h
@@ -6,16 +6,44 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Drives the robot without a joystick
+ *
+ * Drives the robot given a timeout and joystick values
+ */
 class AutoDrive: public Command{
   private:
     double x, y;
   public:
-    AutoDrive(double);
+    /**
+     * @brief Constructs AutoDrive
+     *
+     * @param double Timeout in seconds
+     * @param double Joystick x value (default: 0.0)
+     * @param double Joystick y value (default: 0.75)
+     */
     AutoDrive(double, double, double);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Drives the robot
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the drivetrain to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif
diff --git a/Commands/Autonomous/Autonomous.h b/Commands/Autonomous/Autonomous.h
index f5786e2..4850c97 100644
--- a/Commands/Autonomous/Autonomous.h
+++ b/Commands/Autonomous/Autonomous.h
@@ -6,8 +6,27 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief The autonomous period of the robot
+ *
+ * Contains three sequences selectable from the SmartDashboard
+ * All sequences will wait for the SmartDashboard value "Auto Wait Time"
+ * 
+ * Sequence 0: Used for testing only
+ *
+ * Sequence 1: Drives forward "Auto Zone Distance" at -0.8 power
+ *
+ * Sequence 2: Collects a tote, turns, then drives to the auto zone
+ *
+ * Sequence 3: Collects two or three totes then drives to auto zone
+ */
 class Autonomous: public CommandGroup{
   public:
+    /**
+     * @brief Constructs Autonomous
+     *
+     * @param int The sequence to run
+     */
     Autonomous(int);
 };
 #endif
diff --git a/Commands/Autonomous/CollectTote.h b/Commands/Autonomous/CollectTote.h
index be6d94e..0d7c013 100644
--- a/Commands/Autonomous/CollectTote.h
+++ b/Commands/Autonomous/CollectTote.h
@@ -6,8 +6,16 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Collects one tote
+ *
+ * Rolls collector wheels in and drives forward in parallel
+ */
 class CollectTote: public CommandGroup{
   public:
+    /**
+     * @brief Constructs CollectTote
+     */
     CollectTote();
 };
 #endif
diff --git a/Commands/Autonomous/ReleaseTote.h b/Commands/Autonomous/ReleaseTote.h
index df04a04..f91dc65 100644
--- a/Commands/Autonomous/ReleaseTote.h
+++ b/Commands/Autonomous/ReleaseTote.h
@@ -6,8 +6,16 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Releases one tote
+ *
+ * Rolls collector wheels out and drives backwards in parallel
+ */
 class ReleaseTote: public CommandGroup{
   public:
+    /**
+     * @brief Constructs ReleaseTote
+     */
     ReleaseTote();
 };
 #endif
diff --git a/Commands/Autonomous/Turn.h b/Commands/Autonomous/Turn.h
index 515ce44..3781a0a 100644
--- a/Commands/Autonomous/Turn.h
+++ b/Commands/Autonomous/Turn.h
@@ -6,15 +6,42 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Turns the robot
+ *
+ * Turns the robot until a timeout is reached
+ */
 class Turn: public Command{
   private:
     int degrees;
   public:
+    /**
+     * @brief Constructs Turn
+     *
+     * @param double Timeout in seconds
+     */
     Turn(double);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Turns the robot
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the drivetrain to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif
diff --git a/Commands/BinElevator/BinCloseArms.h b/Commands/BinElevator/BinCloseArms.h
index b6322b9..b1fb9db 100644
--- a/Commands/BinElevator/BinCloseArms.h
+++ b/Commands/BinElevator/BinCloseArms.h
@@ -4,13 +4,38 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Closes BinElevatorArms (NOT USED)
+ *
+ * Sets the solenoid to close the arms of the BinElevator
+ */
 class BinCloseArms: public Command{
   public:
+    /**
+     * @brief Constructs BinCloseArms
+     */
     BinCloseArms();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Sets the solenoid to close the arms
+     */
     void Execute();
+    /**
+     * @brief Returns true to prevent solenoid damage
+     *
+     * @return True
+     */
     bool IsFinished();
+    /**
+     * @brief Ends the command
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 
diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h
index 49813b0..f9dcb24 100644
--- a/Commands/BinElevator/BinLower.h
+++ b/Commands/BinElevator/BinLower.h
@@ -4,15 +4,40 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Lowers the bin elevator until a timeout is reached
+ */
 class BinLower: public Command{
   private:
     float timeout;
   public:
+    /**
+     * @brief Constructs BinLower
+     *
+     * @param float Timeout in seconds
+     */
     BinLower(float);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Lowers the bin elevator at -1.0 power
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the bin elevator to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif
diff --git a/Commands/BinElevator/BinOpenArms.h b/Commands/BinElevator/BinOpenArms.h
index 533d71c..4a9c86c 100644
--- a/Commands/BinElevator/BinOpenArms.h
+++ b/Commands/BinElevator/BinOpenArms.h
@@ -6,13 +6,32 @@
 
 class BinOpenArms: public Command{
   public:
+    /**
+     * @brief Constructs BinOpenArms
+     */
     BinOpenArms();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Sets the solenoid to open the arms
+     */
     void Execute();
+    /**
+     * @brief Returns true to prevent solenoid damage
+     *
+     * @return True
+     */
     bool IsFinished();
+    /**
+     * @brief Ends the command
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et
diff --git a/Commands/BinElevator/BinRaise.h b/Commands/BinElevator/BinRaise.h
index d173430..8eb6932 100644
--- a/Commands/BinElevator/BinRaise.h
+++ b/Commands/BinElevator/BinRaise.h
@@ -4,17 +4,41 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Raises the bin elevator until a timeout is reached
+ */
 class BinRaise: public Command{
   private:
     float timeout;
   public:
+    /**
+     * @brief Constructs BinRaise
+     *
+     * @param float Timeout in seconds
+     */
     BinRaise(float);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Raises the bin elevator at 1.0 power
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the bin elevator to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et
diff --git a/Commands/Collector/RollIn.h b/Commands/Collector/RollIn.h
index 25e4924..9c65d76 100644
--- a/Commands/Collector/RollIn.h
+++ b/Commands/Collector/RollIn.h
@@ -6,17 +6,41 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Rolls collector motors in until a timeout is reached
+ */
 class RollIn: public Command{
   private:
     double rawSpeed;
   public:
+    /**
+     * @brief Constructs RollIn
+     *
+     * @param double Timeout in seconds
+     */
     RollIn(double);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Rolls the four collector motors in
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the collector to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et
diff --git a/Commands/Collector/RollOut.h b/Commands/Collector/RollOut.h
index 7143d07..33eab1d 100644
--- a/Commands/Collector/RollOut.h
+++ b/Commands/Collector/RollOut.h
@@ -6,15 +6,37 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Rolls collector motors out until a timeout is reached
+ */
 class RollOut: public Command{
   public:
+    /**
+     * @brief Constructs RollOut
+     */
     RollOut();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Rolls the four collector motors out
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the collector to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et
diff --git a/Commands/Drivetrain/Drive.h b/Commands/Drivetrain/Drive.h
index 17e0ab8..cd45188 100644
--- a/Commands/Drivetrain/Drive.h
+++ b/Commands/Drivetrain/Drive.h
@@ -6,13 +6,38 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Drives the robot with a joystick
+ *
+ * Uses mechanum drive
+ */
 class Drive: public Command{
   public:
+    /**
+     * @brief Constructs Drive
+     */
     Drive();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Drives the robot with joysticks from OI
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return False
+     */
     bool IsFinished();
+    /**
+     * @brief Ends the command
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif
diff --git a/Commands/Elevator/Lower.h b/Commands/Elevator/Lower.h
index 92c8535..8478472 100644
--- a/Commands/Elevator/Lower.h
+++ b/Commands/Elevator/Lower.h
@@ -4,13 +4,36 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Lowers the elevator until a timeout is reached
+ */
 class Lower: public Command{
   public:
+    /**
+     * @brief Constructs Lower
+     */
     Lower();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Lowers the elevator at -1.0 power
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True if the timeout was reached or if the bottom elevator sensor was triggered
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the elevator to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif
diff --git a/Commands/Elevator/Raise.h b/Commands/Elevator/Raise.h
index b19f470..63cfc70 100644
--- a/Commands/Elevator/Raise.h
+++ b/Commands/Elevator/Raise.h
@@ -4,15 +4,37 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Raises the elevator until a timeout is reached
+ */
 class Raise: public Command{
   public:
+    /**
+     * @brief Constructs Raise
+     */
     Raise();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Raises the elevator at 1.0 power
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True if the timeout was reached or if the top elevator was triggered or if the middle elevator is triggered
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the elevator to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et
diff --git a/Commands/Test/CheckDrive.h b/Commands/Test/CheckDrive.h
index ec76d13..5993405 100644
--- a/Commands/Test/CheckDrive.h
+++ b/Commands/Test/CheckDrive.h
@@ -6,15 +6,40 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief TODO
+ */
 class CheckDrive: public CommandGroup{
   private:
     int motor;
   public:
+    /**
+     * @brief TODO
+     *
+     * @param int
+     */
     CheckDrive(int);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief TODO
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return TODO
+     */
     bool IsFinished();
+    /**
+     * @brief TODO
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif
diff --git a/Commands/Test/CheckRobot.h b/Commands/Test/CheckRobot.h
index d0df68e..c12d6f6 100644
--- a/Commands/Test/CheckRobot.h
+++ b/Commands/Test/CheckRobot.h
@@ -6,8 +6,14 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief TODO
+ */
 class CheckRobot: public CommandGroup{
   public:
+    /**
+     * @brief TODO
+     */
     CheckRobot();
 };
 #endif
diff --git a/OI.h b/OI.h
index 1214378..369ea2b 100644
--- a/OI.h
+++ b/OI.h
@@ -4,16 +4,45 @@
 #include "WPILib.h"
 #include "Commands/Command.h"
 
+/**
+ * @brief Controls the robot with joysticks
+ */
 class OI
 {
   private:
     Joystick *leftStick, *rightStick;
   public:
+    /**
+     * @brief Constructs OI
+     */
     OI();
-    Command *raise, *lower, *binLower, *binRaise;
+    Command *raise,    //!< Raise command
+            *lower,    //!< Lower command
+            *binLower, //!< BinLower command
+            *binRaise; //!< BinRaise command
+    /**
+     * @brief Returns the right joystick
+     *
+     * @return The right joystick
+     */
     Joystick* GetRightStick();
+    /**
+     * @brief Returns the left joystick
+     *
+     * @return The left joystick
+     */
     Joystick* GetLeftStick();
+    /**
+     * @brief Returns the left joystick throttle
+     *
+     * @return The left joystick throttle
+     */
     double GetLeftThrottle();
+    /**
+     * @brief Returns the right joystick throttle
+     *
+     * @return The right joystick throttle
+     */
     double GetRightThrottle();
 };
 #endif