add java docs (auto generated)

src/main/java/frc/robot/commands/ShooterCalc.java

@@ -25,12 +25,32 @@ public ShooterCalc() {
     this.stopAiming = (() -> false);
   }
 
+  /**
+   * The function prepares a fire command by calculating the speed and angle for the robot's shooter
+   * based on the robot's pose and whether it should shoot at the speaker.
+   * 
+   * @param shootAtSpeaker A BooleanSupplier that returns true if the robot should shoot at the
+   * speaker, and false otherwise.
+   * @param robotPose The `robotPose` parameter represents the current pose (position and orientation)
+   * of the robot. It is of type `Pose2d`.
+   * @return The method is returning a Command object.
+   */
   public Command prepareFireCommand(BooleanSupplier shootAtSpeaker, Pose2d robotPose) {
     SpeedAnglePair pair = calculateSpeed(robotPose, shootAtSpeaker.getAsBoolean());
     return Commands.runOnce(() -> pivot.setAngle(pair.getAngle()))
             .alongWith(Commands.runOnce(() -> shooter.setSpeed(pair.getSpeed())));
   }
 
+  /**
+   * The function prepares a command to fire at a moving target while continuously aiming until
+   * instructed to stop.
+   * 
+   * @param shootAtSpeaker A BooleanSupplier that determines whether the robot should shoot at the
+   * speaker.
+   * @param swerve The "swerve" parameter is an instance of the Swerve class. It is used to access the
+   * current pose (position and orientation) of the swerve mechanism.
+   * @return The method is returning a Command object.
+   */
   public Command prepareFireMovingCommand(BooleanSupplier shootAtSpeaker, Swerve swerve) {
     if (stopAiming.getAsBoolean()) {
       return Commands.runOnce(() -> toggleStopAiming());
@@ -40,20 +60,55 @@ public Command prepareFireMovingCommand(BooleanSupplier shootAtSpeaker, Swerve s
             .until(stopAiming);
   }
 
+  /**
+   * The function prepares a shooter command by calculating the speed and angle based on the robot's
+   * pose and whether it should shoot at the speaker, and then sets the shooter's speed accordingly.
+   * 
+   * @param shootAtSpeaker A BooleanSupplier that returns true if the robot should shoot at the
+   * speaker, and false otherwise.
+   * @param robotPose The robotPose parameter represents the current pose (position and orientation) of
+   * the robot. It is used in the calculateSpeed method to determine the speed at which the shooter
+   * should be set.
+   * @return The method is returning a Command object.
+   */
   public Command prepareShooterCommand(BooleanSupplier shootAtSpeaker, Pose2d robotPose) {
     SpeedAnglePair pair = calculateSpeed(robotPose, shootAtSpeaker.getAsBoolean());
     return Commands.runOnce(() -> shooter.setSpeed(pair.getSpeed()));
   }
 
+  /**
+   * The function prepares a pivot command based on whether the robot should shoot at the speaker and
+   * the current robot pose.
+   * 
+   * @param shootAtSpeaker A BooleanSupplier that returns true if the robot should shoot at the
+   * speaker, and false otherwise.
+   * @param robotPose The `robotPose` parameter represents the current pose (position and orientation)
+   * of the robot. It is of type `Pose2d`.
+   * @return The method is returning a Command object.
+   */
   public Command preparePivotCommand(BooleanSupplier shootAtSpeaker, Pose2d robotPose) {
     SpeedAnglePair pair = calculateSpeed(robotPose, shootAtSpeaker.getAsBoolean());
     return Commands.runOnce(() -> pivot.setAngle(pair.getAngle()));
   }
 
+  /**
+   * The function toggleStopAiming toggles the value of the stopAiming variable.
+   */
   private void toggleStopAiming() {
     this.stopAiming = (() -> !stopAiming.getAsBoolean());
   }
 
+  /**
+   * This function calculates the speed and angle needed for a robot to shoot at a speaker or an amp
+   * based on its current position on the field.
+   * 
+   * @param robotPose The `robotPose` parameter is an object of type `Pose2d` which represents the pose
+   * (position and orientation) of the robot on the field. It contains information about the robot's
+   * translation (position) and rotation (angle) relative to a reference point on the field.
+   * @param shootingAtSpeaker A boolean value indicating whether the robot is shooting at the speaker
+   * or not.
+   * @return The method is returning a SpeedAnglePair object.
+   */
   private SpeedAnglePair calculateSpeed(Pose2d robotPose, boolean shootingAtSpeaker) {
         // Constants have blue alliance positions at index 0
         // and red alliance positions at index 1