diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java
index 6e37ad8..0013451 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java
@@ -95,9 +95,14 @@ public class CometBotTeleopCompetition {
     }
 
     /*
-    Controller: 1
-    Button: A
-    Action: On button press, Arm hovers the floor with wrist parallel to arm
+    Type: PS4 / Logitech
+    Controller: 2
+    Button: TRIANGLE / Y
+    Assumption: Claw is holding specimen, robot is facing buckets ready to score
+    Action: On button press, enter BUCKET state, arm is lifted up, wrist is lifted up and lift
+            raises to high bucket.  Once at high bucket position, move arm forward, wrist forward
+            and open claw to drop specimen into bucket.  Finally, put arm back up and wrist back up,
+            retract lift all the way down to floor position and back to TRAVELING state.
      */
     public void toHighBucketScore() {
         if (this.currentGP2.triangle && !this.previousGP2.triangle) {
@@ -122,6 +127,16 @@ public class CometBotTeleopCompetition {
         }
     }
 
+    /*
+    Type: PS4 / Logitech
+    Controller: 2
+    Button: CIRCLE / B
+    Assumption: Claw is holding specimen, robot is facing buckets ready to score
+    Action: On button press, enter BUCKET state, arm is lifted up, wrist is lifted up and lift
+            raises to low bucket.  Once at low bucket position, move arm forward, wrist forward
+            and open claw to drop specimen into bucket.  Finally, put arm back up and wrist back up,
+            retract lift all the way down to floor position and back to TRAVELING state.
+     */
     public void toLowBucketScore() {
         if (this.currentGP2.circle && !this.previousGP2.circle) {
             fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
@@ -145,18 +160,47 @@ public class CometBotTeleopCompetition {
         }
     }
 
+    /*
+    Type: PS4 / Logitech
+    Controller: 2
+    Button: RIGHT BUMPER
+    Assumption: Working claw mechanism
+    Action: On button press, claw switches state from OPEN to CLOSE
+     */
     public void clawControl() {
         if (this.currentGP2.right_bumper && !this.previousGP2.right_bumper) {
             this.claw.switchState();
         }
     }
 
+    /*
+    Type: PS4 / Logitech
+    Controller: 2
+    Button: SQUARE / X
+    Assumption: Working arm mechanism
+    Action: On button press, pulls arm up and wrist up, ideal for traveling the field when
+            holding a specimen in claws
+     */
     public void toArmParkPosition() {
         if (this.currentGP2.square && !this.previousGP2.square) {
             Actions.runBlocking(this.arm.toParkPosition());
         }
     }
 
+    /*
+    Type: PS4
+    Controller: 2
+    Button: CROSS / A
+    Assumption: Working claw, arm and wrist mechanisms
+    Action: On button press, if arm is in PARK (toArmParkPosition), drop the arm to SUBMARINE
+            position.  SUBMARINE position means the arm and wrist are parallel to the floor, raised
+            3 INCHES off the ground.  This state is ideal for moving the arm into the SUBMARINE
+            area of the field.
+
+            When arm is in SUBMARINE position, pressing the button again puts the arm and wrist into
+            FLOOR state.  This angles the arm and wrist down so that it is able to pick specimens
+            from within the SUBMARINE floor.
+     */
     public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
         if (this.currentGP2.cross && !previousGP2.cross) {
             if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {