diff --git a/src/org/usfirst/frc/team4737/robot/Robot.java b/src/org/usfirst/frc/team4737/robot/Robot.java
index 783d58a..9e300d5 100644
--- a/src/org/usfirst/frc/team4737/robot/Robot.java
+++ b/src/org/usfirst/frc/team4737/robot/Robot.java
@@ -31,7 +31,7 @@ public class Robot extends TimedRobot {
 	public static final Intake INTAKE = new Intake();
 	public static final Climber CLIMBER = new Climber();
 	public static final ControlSystem CONTROLSYSTEM = new ControlSystem();
-	
+
 	public static final OI OI = new OI(); // Must initialize after subsystems
 
 	private Command autonomousCommand;
@@ -45,6 +45,7 @@ public class Robot extends TimedRobot {
 	public void robotInit() {
 		chooser.addDefault("No Auto", null);
 		chooser.addObject("Blind Baseline", new AutoBlindBaseline());
+		// Add new autonomous routines here
 		SmartDashboard.putData("Auto mode", chooser);
 	}
 
@@ -55,6 +56,7 @@ public void robotInit() {
 	 */
 	@Override
 	public void disabledInit() {
+		// Puts robot into coast mode, allowing it to be pushed more easily
 		new RelaxDrivetrain().start();
 	}
 
diff --git a/src/org/usfirst/frc/team4737/robot/RobotMap.java b/src/org/usfirst/frc/team4737/robot/RobotMap.java
index 9043552..900c165 100644
--- a/src/org/usfirst/frc/team4737/robot/RobotMap.java
+++ b/src/org/usfirst/frc/team4737/robot/RobotMap.java
@@ -39,14 +39,39 @@ public class RobotMap {
 	/**
 	 * The voltage to give to the elevator for it to hold constant position with a
 	 * cube
+	 * 
+	 * Increase this value if the elevator droops too much while holding the cube
+	 */
+	public static final double ELEVATOR_HOLD_V = 1;
+	/**
+	 * The number of seconds to keep the elevator in place before letting the motor
+	 * relax. To disable this, set the value to 0.1
 	 */
-	public static final double ELEVATOR_HOLD_V = 1; // TODO measure
 	public static final double ELEVATOR_HOLD_TIME = 4; // TODO tune
-	public static final double ELEVATOR_MAX_DOWN_SPEED = -0.6; // TODO tune
-	
+	/**
+	 * The maximum speed the elevator is allowed to go down. This prevents
+	 * unspooling too quickly, which causes the rope to fall off the spool.
+	 */
+	public static final double ELEVATOR_MAX_DOWN_SPEED = -0.6;
+
+	/**
+	 * The value to multiply the throttle by when slow driving is enabled
+	 */
 	public static final double DRIVE_SLOW_SCALE = 0.5;
-	
+
+	/*
+	 * Adjust these variables to tune autonomous
+	 */
 	public static final double AUTO_BLIND_TIME = 5;
 	public static final double AUTO_BLIND_SPEED = 0.3;
+	/**
+	 * The steering value to use in autonomous to counteract any natural tendencies
+	 * for the robot to veer left or right. A positive value (should) steer the
+	 * robot to the right, and negative to the left.
+	 * 
+	 * Tune this value accordingly. It may need to be adjusted throughout the
+	 * competition.
+	 */
+	public static final double AUTO_BLIND_STEER = 0;
 
 }
diff --git a/src/org/usfirst/frc/team4737/robot/commands/BuzzController.java b/src/org/usfirst/frc/team4737/robot/commands/BuzzController.java
index 90bdeb5..c3ca684 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/BuzzController.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/BuzzController.java
@@ -37,4 +37,5 @@ protected void end() {
 	// subsystems is scheduled to run
 	protected void interrupted() {
 	}
+	
 }
diff --git a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindAccelerate.java b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindAccelerate.java
index 044d6c6..7a4bac8 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindAccelerate.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindAccelerate.java
@@ -1,69 +1,88 @@
 package org.usfirst.frc.team4737.robot.commands.drivetrain;
 
 import org.usfirst.frc.team4737.robot.Robot;
+import org.usfirst.frc.team4737.robot.RobotMap;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- *
+ * Autonomously accelerates/decelerates the robot to a target speed from a
+ * starting speed.
  */
 public class AutoBlindAccelerate extends Command {
 
 	private double percentPerSecond;
 	private double startPercent;
 	private double targetPercent;
-	
+
 	private boolean startLow;
-	
+
 	private double lastTime;
 	private double percent;
-	
-    public AutoBlindAccelerate(double percentPerSecond, double startPercent, double targetPercent) {
-        requires(Robot.DRIVETRAIN);
-        this.percentPerSecond = percentPerSecond;
-        this.startPercent = startPercent;
-        this.targetPercent = targetPercent;
-    }
-
-    // Called just before this Command runs the first time
-    protected void initialize() {
-    	lastTime = 0;
-    	percent = startPercent;
-    	startLow = startPercent < targetPercent;
-    }
-
-    // Called repeatedly when this Command is scheduled to run
-    protected void execute() {
-    	double time = this.timeSinceInitialized();
-    	double delta = time - lastTime;
-    	lastTime = time;
-    	
-    	// Adjust speed
-    	if (startLow) percent += percentPerSecond * delta;
-    	else percent -= percentPerSecond * delta; 
-    	
-    	// Check bounds
-    	if (startLow && percent > targetPercent) percent = targetPercent;
-    	if (!startLow && percent < targetPercent) percent = targetPercent;
-    	if (percent < -1) percent = -1;
-    	if (percent > 1) percent = 1;
-    	
-    	// Apply speed
-    	Robot.DRIVETRAIN.arcadeDrive(percent, 0);
-    }
-
-    // Make this return true when this Command no longer needs to run execute()
-    protected boolean isFinished() {
-    	return percent == targetPercent;
-    }
-
-    // Called once after isFinished returns true
-    protected void end() {
-    }
-
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
-    protected void interrupted() {
-    }
-    
+
+	/**
+	 * 
+	 * @param percentPerSecond
+	 *            The % speed to accelerate by per second. A value of 1 will
+	 *            accelerate the robot from a standstill to full speed in one
+	 *            second.
+	 * @param startPercent
+	 *            The initial speed (between -1.0 and 1.0) of the robot.
+	 * @param targetPercent
+	 *            The speed (between -1.0 and 1.0) to accelerate to.
+	 */
+	public AutoBlindAccelerate(double percentPerSecond, double startPercent, double targetPercent) {
+		requires(Robot.DRIVETRAIN);
+		this.percentPerSecond = percentPerSecond;
+		this.startPercent = startPercent;
+		this.targetPercent = targetPercent;
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+		lastTime = 0;
+		percent = startPercent;
+		startLow = startPercent < targetPercent;
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		double time = this.timeSinceInitialized();
+		double delta = time - lastTime;
+		lastTime = time;
+
+		// Adjust speed based on time passed
+		if (startLow)
+			percent += percentPerSecond * delta;
+		else
+			percent -= percentPerSecond * delta;
+
+		// Check bounds
+		if (startLow && percent > targetPercent)
+			percent = targetPercent;
+		if (!startLow && percent < targetPercent)
+			percent = targetPercent;
+		if (percent < -1)
+			percent = -1;
+		if (percent > 1)
+			percent = 1;
+
+		// Set drive speed
+		Robot.DRIVETRAIN.arcadeDrive(percent, RobotMap.AUTO_BLIND_STEER);
+	}
+
+	// Make this return true when this Command no longer needs to run execute()
+	protected boolean isFinished() {
+		return percent == targetPercent;
+	}
+
+	// Called once after isFinished returns true
+	protected void end() {
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+	}
+
 }
diff --git a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindBaseline.java b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindBaseline.java
index bb36bc4..75f39e1 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindBaseline.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindBaseline.java
@@ -9,27 +9,39 @@
  */
 public class AutoBlindBaseline extends CommandGroup {
 
-    public AutoBlindBaseline() {
-        // Add Commands here:
-        // e.g. addSequential(new Command1());
-        //      addSequential(new Command2());
-        // these will run in order.
-
-        // To run multiple commands at the same time,
-        // use addParallel()
-        // e.g. addParallel(new Command1());
-        //      addSequential(new Command2());
-        // Command1 and Command2 will run in parallel.
-
-        // A command group will require all of the subsystems that each member
-        // would require.
-        // e.g. if Command1 requires chassis, and Command2 requires arm,
-        // a CommandGroup containing them would require both the chassis and the
-        // arm.
-    	
-    	addSequential(new AutoBlindAccelerate(0.1, 0, RobotMap.AUTO_BLIND_SPEED));
-    	addSequential(new AutoBlindDrive(RobotMap.AUTO_BLIND_TIME, RobotMap.AUTO_BLIND_SPEED));
-    	addSequential(new AutoBlindAccelerate(0.1, RobotMap.AUTO_BLIND_SPEED, 0));
-    }
-    
+	public AutoBlindBaseline() {
+		// Add Commands here:
+		// e.g. addSequential(new Command1());
+		// addSequential(new Command2());
+		// these will run in order.
+
+		// To run multiple commands at the same time,
+		// use addParallel()
+		// e.g. addParallel(new Command1());
+		// addSequential(new Command2());
+		// Command1 and Command2 will run in parallel.
+
+		// A command group will require all of the subsystems that each member
+		// would require.
+		// e.g. if Command1 requires chassis, and Command2 requires arm,
+		// a CommandGroup containing them would require both the chassis and the
+		// arm.
+
+		/*
+		 * Accelerates the robot to the configured speed, drives for the configured
+		 * time, and decelerates to a stop.
+		 * 
+		 * If the robot drives too far, decrease the time. If the robot drives too fast,
+		 * decrease the speed. If the robot speeds up too fast, decrease the
+		 * acceleration. Likewise, if it takes too long to speed up, increase
+		 * acceleration.
+		 * 
+		 * If the robot veers left or right, adjust the AUTO_BLIND_STEER value in RobotMap.
+		 */
+		double acceleration = 0.1;
+		addSequential(new AutoBlindAccelerate(acceleration, 0, RobotMap.AUTO_BLIND_SPEED));
+		addSequential(new AutoBlindDrive(RobotMap.AUTO_BLIND_TIME, RobotMap.AUTO_BLIND_SPEED));
+		addSequential(new AutoBlindAccelerate(acceleration, RobotMap.AUTO_BLIND_SPEED, 0));
+	}
+
 }
diff --git a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindDrive.java b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindDrive.java
index fc741dd..690ce04 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindDrive.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/AutoBlindDrive.java
@@ -1,39 +1,51 @@
 package org.usfirst.frc.team4737.robot.commands.drivetrain;
 
 import org.usfirst.frc.team4737.robot.Robot;
+import org.usfirst.frc.team4737.robot.RobotMap;
 
 import edu.wpi.first.wpilibj.command.TimedCommand;
 
 /**
- *
+ * Drives the robot forward autonomously without sensor input. Drives at a
+ * certain speed for a certain time.
+ * 
+ * This should be used only in conjunction with AutoBlindAccelerate to get up to
+ * speed. If the robot does not accelerate first, it may jerk and tip over.
  */
 public class AutoBlindDrive extends TimedCommand {
 
 	private double percent;
-	
-    public AutoBlindDrive(double time, double percent) {
-    	super(time);
-        requires(Robot.DRIVETRAIN);
-        
-        this.percent = percent;
-    }
-
-    // Called just before this Command runs the first time
-    protected void initialize() {
-    }
-
-    // Called repeatedly when this Command is scheduled to run
-    protected void execute() {
-    	Robot.DRIVETRAIN.arcadeDrive(percent, 0);
-    }
-
-    // Called once after isFinished returns true
-    protected void end() {
-    }
-
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
-    protected void interrupted() {
-    }
-    
+
+	/**
+	 * 
+	 * @param time
+	 *            The number of seconds to drive forward for.
+	 * @param percent
+	 *            The percent output, or speed (between -1.0 and 1.0) to drive at.
+	 */
+	public AutoBlindDrive(double time, double percent) {
+		super(time);
+		requires(Robot.DRIVETRAIN);
+
+		this.percent = percent;
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		Robot.DRIVETRAIN.arcadeDrive(percent, RobotMap.AUTO_BLIND_STEER);
+	}
+
+	// Called once after isFinished returns true
+	protected void end() {
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+	}
+
 }
diff --git a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/RelaxDrivetrain.java b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/RelaxDrivetrain.java
index 564a318..d2a04b2 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/drivetrain/RelaxDrivetrain.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/drivetrain/RelaxDrivetrain.java
@@ -5,7 +5,8 @@
 import edu.wpi.first.wpilibj.command.InstantCommand;
 
 /**
- *
+ * Configures the drivetrain to coast mode. This allows the robot to be pushed
+ * around more easily.
  */
 public class RelaxDrivetrain extends InstantCommand {
 
diff --git a/src/org/usfirst/frc/team4737/robot/commands/elevator/ControlElevator.java b/src/org/usfirst/frc/team4737/robot/commands/elevator/ControlElevator.java
index fe97da7..8ca2264 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/elevator/ControlElevator.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/elevator/ControlElevator.java
@@ -22,13 +22,10 @@ protected void initialize() {
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
 		// Control elevator movement, holding it in place by default
+		
+		// Grab input
 		double input = Robot.OI.operator.getAxis("LS_Y").get();
 
-		// Check if we're hitting the top
-		//		if (input > 0 && Robot.ELEVATOR.isAtTop()) {
-		//			input = 0;
-		//		}
-
 		// Make sure we don't go down too fast
 		if (input < RobotMap.ELEVATOR_MAX_DOWN_SPEED) {
 			input = RobotMap.ELEVATOR_MAX_DOWN_SPEED;
@@ -45,7 +42,6 @@ protected void execute() {
 
 		// Set elevator speed
 		Robot.ELEVATOR.setSpeed(input);
-
 	}
 
 	// Make this return true when this Command no longer needs to run execute()
diff --git a/src/org/usfirst/frc/team4737/robot/commands/elevator/HoldElevator.java b/src/org/usfirst/frc/team4737/robot/commands/elevator/HoldElevator.java
index 1225ac0..cf0bc5a 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/elevator/HoldElevator.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/elevator/HoldElevator.java
@@ -28,7 +28,7 @@ protected void initialize() {
 
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
-		// If one second remaining, buzz controller
+		// If one second remaining, buzz controller to notify operator
 		if (RobotMap.ELEVATOR_HOLD_TIME - this.timeSinceInitialized() < 1.0 && !startedBuzz) {
 			new BuzzController(1, 0.3, Robot.OI.operator).start();
 			startedBuzz = true;
diff --git a/src/org/usfirst/frc/team4737/robot/commands/elevator/RelaxElevator.java b/src/org/usfirst/frc/team4737/robot/commands/elevator/RelaxElevator.java
index 707e831..2e50df0 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/elevator/RelaxElevator.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/elevator/RelaxElevator.java
@@ -5,37 +5,38 @@
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- *
+ * Relaxes the elevator. Allows it to fall down on its own and disables any
+ * motor output.
  */
 public class RelaxElevator extends Command {
 
-    public RelaxElevator() {
-        requires(Robot.ELEVATOR);
-    }
-
-    // Called just before this Command runs the first time
-    protected void initialize() {
-    	Robot.ELEVATOR.setCoastMode();
-    	Robot.ELEVATOR.setHoldPosition(false);
-    }
-
-    // Called repeatedly when this Command is scheduled to run
-    protected void execute() {
-    	Robot.ELEVATOR.setSpeed(0);
-    }
-
-    // Make this return true when this Command no longer needs to run execute()
-    protected boolean isFinished() {
-        return false;
-    }
-
-    // Called once after isFinished returns true
-    protected void end() {
-    }
-
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
-    protected void interrupted() {
-    }
-    
+	public RelaxElevator() {
+		requires(Robot.ELEVATOR);
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+		Robot.ELEVATOR.setCoastMode();
+		Robot.ELEVATOR.setHoldPosition(false);
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		Robot.ELEVATOR.setSpeed(0);
+	}
+
+	// Make this return true when this Command no longer needs to run execute()
+	protected boolean isFinished() {
+		return false;
+	}
+
+	// Called once after isFinished returns true
+	protected void end() {
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+	}
+
 }
diff --git a/src/org/usfirst/frc/team4737/robot/commands/elevator/StopElevator.java b/src/org/usfirst/frc/team4737/robot/commands/elevator/StopElevator.java
index 6ada751..73a370f 100644
--- a/src/org/usfirst/frc/team4737/robot/commands/elevator/StopElevator.java
+++ b/src/org/usfirst/frc/team4737/robot/commands/elevator/StopElevator.java
@@ -5,7 +5,10 @@
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- *
+ * Default command for the elevator. Disables all motor output, but puts
+ * elevator in brake mode to prevent it from falling too fast. Keep in mind that
+ * enabling this command does not put the elevator in a safe state. That is, it
+ * does not stop it from chopping off fingers.
  */
 public class StopElevator extends Command {
 
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Climber.java b/src/org/usfirst/frc/team4737/robot/subsystems/Climber.java
index 896678c..d02bd28 100644
--- a/src/org/usfirst/frc/team4737/robot/subsystems/Climber.java
+++ b/src/org/usfirst/frc/team4737/robot/subsystems/Climber.java
@@ -5,7 +5,8 @@
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
- *
+ * This subsystem currently does not exist on the robot. This class serves as a
+ * placeholder in case it is added.
  */
 public class Climber extends Subsystem {
 
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Elevator.java b/src/org/usfirst/frc/team4737/robot/subsystems/Elevator.java
index a3b9936..5f7573a 100644
--- a/src/org/usfirst/frc/team4737/robot/subsystems/Elevator.java
+++ b/src/org/usfirst/frc/team4737/robot/subsystems/Elevator.java
@@ -30,6 +30,7 @@ public Elevator() {
 		// Prevent motor from stalling too hard
 		motor.configContinuousCurrentLimit(30, 30);
 		motor.enableCurrentLimit(true);
+		
 		// Use voltage compensation to keep inputs reliable
 //		motor.configVoltageCompSaturation(12, 30);
 //		motor.enableVoltageCompensation(true);
diff --git a/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java b/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java
index 1e3d75a..1b6a2d1 100644
--- a/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java
+++ b/src/org/usfirst/frc/team4737/robot/subsystems/Intake.java
@@ -12,9 +12,6 @@
  */
 public class Intake extends Subsystem {
 
-	// Put methods for controlling this subsystem
-	// here. Call these from Commands.
-
 	private WPI_TalonSRX leftMotor;
 	private WPI_TalonSRX rightMotor;
 
@@ -31,7 +28,7 @@ public void initDefaultCommand() {
 	/**
 	 * 
 	 * @param speed
-	 *            ranges from -1 to 1.
+	 *            The speed (between -1.0 and 1.0) to run the intake motors at.
 	 */
 	public void setSpeed(double speed) {
 		setLRSpeed(speed, speed);