diff --git a/Commands/Autonomous/AutoDrive.cpp b/Commands/Autonomous/AutoDrive.cpp
index 143fc06..718a9a9 100644
--- a/Commands/Autonomous/AutoDrive.cpp
+++ b/Commands/Autonomous/AutoDrive.cpp
@@ -4,10 +4,10 @@
 AutoDrive::AutoDrive(double duration, double xtmp, double ytmp, double ztmp, bool useGyro): Command("AutoDrive"){
   Requires(DentRobot::drivetrain);
   SetTimeout(duration);
-  x=xtmp;
-  y=ytmp;
-  z=ztmp;
-  gyro=useGyro;
+  x = xtmp;
+  y = ytmp;
+  z = ztmp;
+  gyro = useGyro;
 }
 void AutoDrive::Initialize(){
   DentRobot::drivetrain->ResetGyro();
diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h
index e2fa088..dfe3244 100644
--- a/Commands/Autonomous/AutoDrive.h
+++ b/Commands/Autonomous/AutoDrive.h
@@ -23,9 +23,9 @@ class AutoDrive: public Command{
      *
      * @param duration Timeout in seconds
      * @param xtmp Joystick x value (default: 0.0)
-     * @param ytmp Joystick y value (default: 0.75)
+     * @param ytmp Joystick y value (default: -0.75)
      * @param ztmp Joystick z value (default: 0.0)
-     * @param useGyro Use the gyro when driving
+     * @param useGyro Use the gyro when driving (default: true)
      */
     AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75, double ztmp = 0.0, bool useGyro = true);
     /**
diff --git a/Commands/Autonomous/Autonomous.h b/Commands/Autonomous/Autonomous.h
index 5080d3d..40c106a 100644
--- a/Commands/Autonomous/Autonomous.h
+++ b/Commands/Autonomous/Autonomous.h
@@ -37,9 +37,9 @@ class Autonomous: public CommandGroup{
     /**
      * @brief Constructs Autonomous
      *
-     * @param seq The sequence to run
+     * @param seq The sequence to run (default: 0)
      */
-    Autonomous(int seq=0);
+    Autonomous(int seq = 0);
 };
 #endif
 // vim: ts=2:sw=2:et
diff --git a/Commands/Autonomous/Turn.h b/Commands/Autonomous/Turn.h
index 09d0913..21eb9f7 100644
--- a/Commands/Autonomous/Turn.h
+++ b/Commands/Autonomous/Turn.h
@@ -12,7 +12,6 @@
  * Turns the robot until a timeout is reached
  */
 class Turn: public Command{
-  private:
   public:
     /**
      * @brief Constructs Turn
diff --git a/Commands/BinElevator/BinCloseArms.h b/Commands/BinElevator/BinCloseArms.h
index 086b8a9..01df12c 100644
--- a/Commands/BinElevator/BinCloseArms.h
+++ b/Commands/BinElevator/BinCloseArms.h
@@ -14,7 +14,7 @@ class BinCloseArms: public Command{
     /**
      * @brief Constructs BinCloseArms
      *
-     * @param timeout The timeout
+     * @param timeout Timeout in seconds (default: 0.5)
      */
     BinCloseArms(double timeout = 0.5);
     /**
diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h
index 811adae..2eaede3 100644
--- a/Commands/BinElevator/BinLower.h
+++ b/Commands/BinElevator/BinLower.h
@@ -12,7 +12,7 @@ class BinLower: public Command{
     /**
      * @brief Constructs BinLower
      *
-     * @param timeout The timeout
+     * @param timeout Timeout in seconds
      */
     BinLower(float timeout);
     /**
diff --git a/Commands/BinElevator/BinOpenArms.h b/Commands/BinElevator/BinOpenArms.h
index 22e5d49..0df387a 100644
--- a/Commands/BinElevator/BinOpenArms.h
+++ b/Commands/BinElevator/BinOpenArms.h
@@ -12,7 +12,7 @@ class BinOpenArms: public Command{
     /**
      * @brief Constructs BinOpenArms
      *
-     * @param timeout The timeout
+     * @param timeout Timeout in seconds
      */
     BinOpenArms(double timeout);
     /**
diff --git a/Commands/Collector/RollIn.cpp b/Commands/Collector/RollIn.cpp
index 816aa81..f05920c 100644
--- a/Commands/Collector/RollIn.cpp
+++ b/Commands/Collector/RollIn.cpp
@@ -1,14 +1,14 @@
 #include "RollIn.h"
 RollIn::RollIn(double speed): Command("RollIn"){
-  rawSpeed=speed;
+  rawSpeed = speed;
 }
 void RollIn::Initialize(){
   printf("Initialized RollIn\n");
   SetTimeout(2.0);
 }
 void RollIn::Execute(){
-  //double cvt=(rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
-  //if(cvt<=1.0){
+  //double cvt = (rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
+  //if(cvt <= 1.0){
   //  DentRobot::collector->MoveRollers(1.0);
   //}else{
   //  DentRobot::collector->MoveRollers(cvt*1.5);
diff --git a/Commands/Collector/RollOut.h b/Commands/Collector/RollOut.h
index bfa7b70..244d85d 100644
--- a/Commands/Collector/RollOut.h
+++ b/Commands/Collector/RollOut.h
@@ -14,9 +14,9 @@ class RollOut: public Command{
     /**
      * @brief Constructs RollOut
      *
-     * @param timeout The timeout
+     * @param timeout Timeout in seconds (default: 2.0)
      */
-    RollOut(double timeout=2.0);
+    RollOut(double timeout = 2.0);
     /**
      * @brief Initializes the class
      */
diff --git a/Commands/Collector/RollVar.cpp b/Commands/Collector/RollVar.cpp
index 5066bf1..aa3c701 100644
--- a/Commands/Collector/RollVar.cpp
+++ b/Commands/Collector/RollVar.cpp
@@ -1,6 +1,6 @@
 #include "RollVar.h"
 RollVar::RollVar(double speedVal): Command("RollVar"){
-  speed=speedVal;
+  speed = speedVal;
 }
 void RollVar::Initialize(){
   printf("Initialized RollVar\n");
diff --git a/Commands/Drivetrain/Drive.cpp b/Commands/Drivetrain/Drive.cpp
index a4717ff..26dc650 100644
--- a/Commands/Drivetrain/Drive.cpp
+++ b/Commands/Drivetrain/Drive.cpp
@@ -12,10 +12,10 @@ void Drive::Execute(){
   z = DentRobot::oi->GetLeftStick()->GetRawAxis(2);
   // Lock the x axis when not holding button 1
   //if(DentRobot::oi->GetLeftStick()->GetRawButton(1)){
-  //  x=0;
+  //  x = 0;
   //}
   //if(DentRobot::oi->GetLeftStick()->GetRawButton(2)){
-  //  y=0;
+  //  y = 0;
   //}
   //X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
   if(DentRobot::oi->GetLeftStick()->GetRawButton(11)){
diff --git a/Commands/Drivetrain/Drive.h b/Commands/Drivetrain/Drive.h
index 0b32990..75b289d 100644
--- a/Commands/Drivetrain/Drive.h
+++ b/Commands/Drivetrain/Drive.h
@@ -3,7 +3,6 @@
 
 #include "Commands/Command.h"
 #include "../../DentRobot.h"
-#include "../../DentRobot.h"
 #include "WPILib.h"
 
 /**
diff --git a/Commands/Elevator/Lower.h b/Commands/Elevator/Lower.h
index faf46e7..c8f60d8 100644
--- a/Commands/Elevator/Lower.h
+++ b/Commands/Elevator/Lower.h
@@ -11,8 +11,10 @@ class Lower: public Command{
   public:
     /**
      * @brief Constructs Lower
+     *
+     * @param timeout Timeout in seconds (default: 3.0)
      */
-    Lower(double timeout=3.0);
+    Lower(double timeout = 3.0);
     /**
      * @brief Initializes the class
      */
diff --git a/Commands/Elevator/Raise.cpp b/Commands/Elevator/Raise.cpp
index feaa933..991484c 100644
--- a/Commands/Elevator/Raise.cpp
+++ b/Commands/Elevator/Raise.cpp
@@ -11,11 +11,11 @@ void Raise::Execute(){
 }
 bool Raise::IsFinished(){
   //if(!DentRobot::elevator->GetElevatorMiddle()){
-  //  DentRobot::elevator->stoppedAtSensor=true;
+  //  DentRobot::elevator->stoppedAtSensor = true;
   //}
   //if((DentRobot::elevator->stoppedAtSensor)){
   //  printf("Stopped at the middle sensor\n");
-  //  DentRobot::elevator->stoppedAtSensor=false;
+  //  DentRobot::elevator->stoppedAtSensor = false;
   //  return true;
   //}else if(!DentRobot::elevator->GetElevatorTop()){
   if(!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()||IsTimedOut()){
diff --git a/Commands/Elevator/Raise.h b/Commands/Elevator/Raise.h
index 56535d0..0cc0646 100644
--- a/Commands/Elevator/Raise.h
+++ b/Commands/Elevator/Raise.h
@@ -11,8 +11,10 @@ class Raise: public Command{
   public:
     /**
      * @brief Constructs Raise
+     *
+     * @param timeout Timeout in seconds (default: 3.5)
      */
-    Raise(double timeout=3.5);
+    Raise(double timeout = 3.5);
     /**
      * @brief Initializes the class
      */
diff --git a/DentRobot.cpp b/DentRobot.cpp
index fd1a7f5..605ab24 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -2,20 +2,20 @@
 #include "OI.h"
 #include "RobotMap.h"
 #include "Commands/Autonomous/Autonomous.h"
-OI* DentRobot::oi=NULL;
-Collector* DentRobot::collector=NULL;
-Drivetrain* DentRobot::drivetrain=NULL;
-Elevator* DentRobot::elevator=NULL;
-BinElevator* DentRobot::binElevator=NULL;
-CommandGroup* DentRobot::aut=NULL;
-Pneumatics* DentRobot::pneumatics=NULL;
+OI* DentRobot::oi = NULL;
+Collector* DentRobot::collector = NULL;
+Drivetrain* DentRobot::drivetrain = NULL;
+Elevator* DentRobot::elevator = NULL;
+BinElevator* DentRobot::binElevator = NULL;
+CommandGroup* DentRobot::aut = NULL;
+Pneumatics* DentRobot::pneumatics = NULL;
 DentRobot::DentRobot(){
-  oi=new OI();
-  collector=new Collector();
-  drivetrain=new Drivetrain();
-  elevator=new Elevator();
-  binElevator=new BinElevator();
-  pneumatics=new Pneumatics();
+  oi = new OI();
+  collector = new Collector();
+  drivetrain = new Drivetrain();
+  elevator = new Elevator();
+  binElevator = new BinElevator();
+  pneumatics = new Pneumatics();
   //CameraServer::GetInstance()->SetQuality(25);
   //CameraServer::GetInstance()->StartAutomaticCapture("cam0");
   printf("The robot is on\n");
@@ -55,7 +55,7 @@ void DentRobot::DisabledPeriodic(){
   Scheduler::GetInstance()->Run();
 }
 void DentRobot::AutonomousInit(){
-  aut=new Autonomous(SmartDashboard::GetNumber("Auto Sequence"));
+  aut = new Autonomous(SmartDashboard::GetNumber("Auto Sequence"));
   printf("Enabling Auto Sequence %f\n", SmartDashboard::GetNumber("Auto Sequence"));
   if(aut != NULL){
     aut->Start();
@@ -72,7 +72,7 @@ void DentRobot::TeleopInit(){
 }
 void DentRobot::TeleopPeriodic(){
   Scheduler::GetInstance()->Run();
-  if(elevator->GetUseEncoder()&&elevator->GetHeight()<=-1.0){
+  if(elevator->GetUseEncoder()&&elevator->GetHeight() <= -1.0){
     // Raise the elevator if it dips below elevatorTop
     oi->raise->Start();
   }
diff --git a/OI.cpp b/OI.cpp
index b21de99..a8fcf1d 100644
--- a/OI.cpp
+++ b/OI.cpp
@@ -12,40 +12,40 @@
 #include "Commands/Autonomous/ReleaseTote.h"
 OI::OI(){
   // Joysticks
-  leftStick=new Joystick(0);
-  rightStick=new Joystick(1);
+  leftStick = new Joystick(0);
+  rightStick = new Joystick(1);
   // Collector
-  JoystickButton *left1=new JoystickButton(leftStick, 1);
-  JoystickButton *left2=new JoystickButton(leftStick, 2);
-  JoystickButton *left7=new JoystickButton(leftStick, 7);
+  JoystickButton *left1 = new JoystickButton(leftStick, 1);
+  JoystickButton *left2 = new JoystickButton(leftStick, 2);
+  JoystickButton *left7 = new JoystickButton(leftStick, 7);
   left1->WhileHeld(new RollIn(GetLeftThrottle()));
   left2->WhileHeld(new RollOut(2.0));
   // 0.8 is the multiplier, so they roll at 80% power
   left7->WhileHeld(new RollVar(0.8));
   // Elevator
-  raise=new Raise(3.5);
-  lower=new Lower(3.0);
-  JoystickButton *right4=new JoystickButton(rightStick, 4);
-  JoystickButton *right6=new JoystickButton(rightStick, 6);
+  raise = new Raise(3.5);
+  lower = new Lower(3.0);
+  JoystickButton *right4 = new JoystickButton(rightStick, 4);
+  JoystickButton *right6 = new JoystickButton(rightStick, 6);
   right4->WhenPressed(lower);
   right4->CancelWhenPressed(raise);
   right6->WhenPressed(raise);
   right6->CancelWhenPressed(lower);
   // BinElevator
-  JoystickButton *right3=new JoystickButton(rightStick, 3);
-  JoystickButton *right5=new JoystickButton(rightStick, 5);
-  //JoystickButton *right7=new JoystickButton(rightStick, 7);
-  //JoystickButton *right8=new JoystickButton(rightStick, 8);
+  JoystickButton *right3 = new JoystickButton(rightStick, 3);
+  JoystickButton *right5 = new JoystickButton(rightStick, 5);
+  //JoystickButton *right7 = new JoystickButton(rightStick, 7);
+  //JoystickButton *right8 = new JoystickButton(rightStick, 8);
   //right7->WhenPressed(new BinOpenArms());
   //right8->WhenPressed(new BinCloseArms());
-  binRaise=new BinRaise(3.0);
-  binLower=new BinLower(2.0);
+  binRaise = new BinRaise(3.0);
+  binLower = new BinLower(2.0);
   right3->WhileHeld(binLower);
   right3->CancelWhenPressed(binRaise);
   right5->WhileHeld(binRaise);
   right5->CancelWhenPressed(binLower);
   // Cancel
-  JoystickButton *right12=new JoystickButton(rightStick, 12);
+  JoystickButton *right12 = new JoystickButton(rightStick, 12);
   right12->CancelWhenPressed(raise);
   right12->CancelWhenPressed(lower);
 }
diff --git a/OI.h b/OI.h
index 13fb16a..b326de4 100644
--- a/OI.h
+++ b/OI.h
@@ -9,16 +9,17 @@
  */
 class OI{
   private:
-    Joystick *leftStick, *rightStick;
+    Joystick *leftStick,  //<! Left joystick
+             *rightStick; //<! Right joystick
   public:
     /**
      * @brief Constructs OI
      */
     OI();
-    Command *raise,    //!< Raise command
-            *lower,    //!< Lower command
-            *binLower, //!< BinLower command
-            *binRaise; //!< BinRaise command
+    Command *raise,    //<! Raise command
+            *lower,    //<! Lower command
+            *binLower, //<! BinLower command
+            *binRaise; //<! BinRaise command
     /**
      * @brief Returns the right joystick
      *
diff --git a/Subsystems/BinElevator.cpp b/Subsystems/BinElevator.cpp
index ffc79ee..e6e6176 100644
--- a/Subsystems/BinElevator.cpp
+++ b/Subsystems/BinElevator.cpp
@@ -1,10 +1,10 @@
 #include "BinElevator.h"
 #include "../RobotMap.h"
 BinElevator::BinElevator(){
-  motor=new CANTalon(BINELEVATOR_CAN);
-  elevatorEncoder=new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
-  elevatorBottom=new DigitalInput(BINELEVATOR_BOTTOM_DIO);
-  elevatorTop=new DigitalInput(BINELEVATOR_TOP_DIO);
+  motor = new CANTalon(BINELEVATOR_CAN);
+  elevatorEncoder = new Encoder(BINELEVATOR_ENCODERA, BINELEVATOR_ENCODERB, false);
+  elevatorBottom = new DigitalInput(BINELEVATOR_BOTTOM_DIO);
+  elevatorTop = new DigitalInput(BINELEVATOR_TOP_DIO);
 }
 void BinElevator::InitDefaultCommand(){
 }
diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h
index 5e6f27f..7eacc84 100644
--- a/Subsystems/BinElevator.h
+++ b/Subsystems/BinElevator.h
@@ -24,9 +24,7 @@ class BinElevator{
     /**
      * @brief Runs the bin elevator
      *
-     * @param power The power to run the bin elevator
-     * 
-     * Ranges from -1.0 to 1.0
+     * @param power The power to run the bin elevator (-1.0 to 1.0)
      */
     void Run(double power);
     /**
diff --git a/Subsystems/Collector.cpp b/Subsystems/Collector.cpp
index 66c8e39..4337fc1 100644
--- a/Subsystems/Collector.cpp
+++ b/Subsystems/Collector.cpp
@@ -2,11 +2,11 @@
 #include "../RobotMap.h"
 
 Collector::Collector(): Subsystem("Collector"){
-  collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
-  collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
-  collectorMotorRamp=new CANTalon(COLLECTOR_RAMP_CAN);
-  collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
-  sonarAnalog=new AnalogInput(COLLECTOR_SONAR_ANALOG);
+  collectorMotorLeft = new CANTalon(COLLECTOR_LEFT_CAN);
+  collectorMotorBottom = new CANTalon(COLLECTOR_BOTTOM_CAN);
+  collectorMotorRamp = new CANTalon(COLLECTOR_RAMP_CAN);
+  collectorMotorRight = new CANTalon(COLLECTOR_RIGHT_CAN);
+  sonarAnalog = new AnalogInput(COLLECTOR_SONAR_ANALOG);
 }
 void Collector::InitDefaultCommand(){
 }
diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h
index 6dd7710..a0cc2ba 100644
--- a/Subsystems/Collector.h
+++ b/Subsystems/Collector.h
@@ -33,25 +33,25 @@ class Collector: public Subsystem{
     /**
      * @brief Moves the collectors
      *
-     * @param power The speed to run the collectors
+     * @param power The power to run the collectors
      */
     void MoveRollers(double power);
     /**
      * @brief Moves the left roller
      *
-     * @param power The speed to run the left roller
+     * @param power The power to run the left roller
      */
     void MoveLeftRoller(double power);
     /**
      * @brief Moves the right roller
      *
-     * @param power The speed to run the right roller
+     * @param power The power to run the right roller
      */
     void MoveRightRoller(double power);
     /**
      * @brief Moves the bottom rollers
      *
-     * @param power The speed to run the bottom rollers
+     * @param power The power to run the bottom rollers
      */
     void MoveBottomRollers(double power);
     /**
diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp
index 3fdafcf..e4ca863 100644
--- a/Subsystems/Drivetrain.cpp
+++ b/Subsystems/Drivetrain.cpp
@@ -13,7 +13,7 @@ void Drivetrain::InitDefaultCommand(){
   SetDefaultCommand(new Drive());
 }
 void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight){
-  double kP=SmartDashboard::GetNumber("Gyro kP");
+  double kP = SmartDashboard::GetNumber("Gyro kP");
   double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
   double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);
   double correctZ;
diff --git a/Subsystems/Drivetrain.h b/Subsystems/Drivetrain.h
index 6d8459e..cea6553 100644
--- a/Subsystems/Drivetrain.h
+++ b/Subsystems/Drivetrain.h
@@ -39,9 +39,9 @@ class Drivetrain: public Subsystem{
      * @param y Joystick y value (-1.0 to 1.0)
      * @param z Joystick z value (-1.0 to 1.0)
      * @param sensitivity Sensitivity (0.0 to 1.0)
-     * @param driveStraight Overrides z value to correct for motor lag
+     * @param driveStraight Overrides z value to correct for motor lag (default: false)
      */
-    void DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight=false);
+    void DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight = false);
     /**
      * @brief Tests one motor
      *
diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp
index 8470b34..6f533e9 100644
--- a/Subsystems/Elevator.cpp
+++ b/Subsystems/Elevator.cpp
@@ -1,13 +1,13 @@
 #include "Elevator.h"
 #include "../RobotMap.h"
 Elevator::Elevator(){
-  motor=new CANTalon(ELEVATOR_CAN);
-  elevatorEncoder=new Encoder(ELEVATOR_ENCODERA, ELEVATOR_ENCODERB, false);
-  elevatorBottom=new DigitalInput(ELEVATOR_BOTTOM_DIO);
-  elevatorMiddle=new DigitalInput(ELEVATOR_MIDDLE_DIO);
-  elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
+  motor = new CANTalon(ELEVATOR_CAN);
+  elevatorEncoder = new Encoder(ELEVATOR_ENCODERA, ELEVATOR_ENCODERB, false);
+  elevatorBottom = new DigitalInput(ELEVATOR_BOTTOM_DIO);
+  elevatorMiddle = new DigitalInput(ELEVATOR_MIDDLE_DIO);
+  elevatorTop = new DigitalInput(ELEVATOR_TOP_DIO);
   // Checks if the elevator is drifting
-  useEncoder=false;
+  useEncoder = false;
 }
 void Elevator::InitDefaultCommand(){
 }
@@ -36,7 +36,7 @@ bool Elevator::GetElevatorTop(){
   return elevatorTop->Get();
 }
 void Elevator::SetUseEncoder(bool use){
-  useEncoder=use;
+  useEncoder = use;
 }
 bool Elevator::GetUseEncoder(){
   return useEncoder;
diff --git a/mainpage.dox b/mainpage.dox
index 31dc3c7..7bf6bc2 100644
--- a/mainpage.dox
+++ b/mainpage.dox
@@ -24,8 +24,6 @@
 *   -# @ref Autonomous
 *   -# @ref CollectTote
 *   -# @ref ReleaseTote
-*   -# @ref CheckDrive
-*   -# @ref CheckRobot
 * 
 * Note: Recycling containers are referred to bins throughout the project
 */