Updated subsystem comments.

Made Elevator 2-motor.

TeamCode/src/main/java/teamcode/subsystems/Arm.java

@@ -30,9 +30,11 @@ import trclib.robotcore.TrcEvent;
 import trclib.subsystem.TrcSubsystem;
 
 /**
- * This class implements an Arm Subsystem. The Arm subsystem consists of a motor with built-in encoder. It does not
+ * This class implements an Arm Subsystem. This implementation consists of a motor with built-in encoder. It does not
  * have any limit switches, so it is using motor stall detection to zero calibrate the built-in relative encoder. It
  * supports gravity compensation by computing the power required to hold the arm at its current angle.
+ * There are many possible implementations by setting different parameters.
+ * Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
  */
 public class Arm extends TrcSubsystem
 {

TeamCode/src/main/java/teamcode/subsystems/Claw.java

@@ -34,9 +34,11 @@ import trclib.subsystem.TrcServoClaw;
 import trclib.subsystem.TrcSubsystem;
 
 /**
- * This class implements a Claw Subsystem. The Claw subsystem consists of two servos and a sensor to detect the
+ * This class implements a Claw Subsystem. This implementation consists of two servos and a sensor to detect the
  * presence of an object and can auto grab it. The sensor can be either a digital sensor such as touch sensor or beam
  * break sensor) or an analog sensor such as a distance sensor.
+ * There are many possible implementations by setting different parameters.
+ * Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
  */
 public class Claw extends TrcSubsystem
 {

TeamCode/src/main/java/teamcode/subsystems/DiffyServoWrist.java

@@ -29,12 +29,14 @@ import trclib.subsystem.TrcDifferentialServoWrist;
 import trclib.subsystem.TrcSubsystem;
 
 /**
- * This class creates the Differential Servo Wrist subsystem. The Differential Servo Wrist subsystem is a 2-DOF
+ * This class creates the Differential Servo Wrist subsystem. This implementation is a 2-DOF system that consists of
- * system that consists of two servos. When the two servos rotate in the same direction, the wrist will tilt up and
+ * two servos. When the two servos rotate in the same direction, the wrist will tilt up and down. When the two servos
- * down. When the two servos rotate in opposite direction, the wrist will rotate. Regular servos have a limited
+ * rotate in opposite direction, the wrist will rotate. Regular servos have a limited range of movement. Because of
- * range of movement. Because of this, the tilt and rotation of the wrist will limit each other's range of motion.
+ * this, the tilt and rotation of the wrist will limit each other's range of motion. For example, if the wrist is
- * For example, if the wrist is tilted to one extreme end, the wrist cannot rotate. If the wrist is in the middle
+ * tilted to one extreme end, the wrist cannot rotate. If the wrist is in the middle tilt position, it will have
- * tilt position, it will have maximum rotation range and vice versa.
+ * maximum rotation range and vice versa.
+ * There are many possible implementations by setting different parameters.
+ * Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
  */
 public class DiffyServoWrist extends TrcSubsystem
 {

TeamCode/src/main/java/teamcode/subsystems/Elevator.java

@@ -30,9 +30,11 @@ import trclib.robotcore.TrcEvent;
 import trclib.subsystem.TrcSubsystem;
 
 /**
- * This class implements an Elevator Subsystem. The Elevator subsystem consists of a motor with built-in encoder and
+ * This class implements an Elevator Subsystem. This implementation consists of two motors with built-in encoders and
  * a lower limit switch for zero calibrating the relative encoder. It supports gravity compensation. In the case of
  * an elevator, gravity compensation power is the constant power required to hold the elevator at any position.
+ * There are many possible implementations by setting different parameters.
+ * Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
  */
 public class Elevator extends TrcSubsystem
 {
@@ -41,9 +43,15 @@ public class Elevator extends TrcSubsystem
         public static final String SUBSYSTEM_NAME               = "Elevator";
         public static final boolean NEED_ZERO_CAL               = true;
 
-        public static final String MOTOR_NAME                   = SUBSYSTEM_NAME + ".motor";
+        public static final String PRIMARY_MOTOR_NAME           = SUBSYSTEM_NAME + ".primary";
-        public static final FtcMotorActuator.MotorType MOTOR_TYPE= FtcMotorActuator.MotorType.DcMotor;
+        public static final FtcMotorActuator.MotorType PRIMARY_MOTOR_TYPE =
-        public static final boolean MOTOR_INVERTED              = true;
+            FtcMotorActuator.MotorType.DcMotor;
+        public static final boolean PRIMARY_MOTOR_INVERTED      = true;
+
+        public static final String FOLLOWER_MOTOR_NAME          = SUBSYSTEM_NAME + ".follower";
+        public static final FtcMotorActuator.MotorType FOLLOWER_MOTOR_TYPE =
+            FtcMotorActuator.MotorType.DcMotor;
+        public static final boolean FOLLOWER_MOTOR_INVERTED     = true;
 
         public static final String LOWER_LIMITSW_NAME           = SUBSYSTEM_NAME + ".lowerLimitSw";
         public static final boolean LOWER_LIMITSW_INVERTED      = false;
@@ -79,7 +87,8 @@ public class Elevator extends TrcSubsystem
 
         dashboard = FtcDashboard.getInstance();
         FtcMotorActuator.Params motorParams = new FtcMotorActuator.Params()
-            .setPrimaryMotor(Params.MOTOR_NAME, Params.MOTOR_TYPE, Params.MOTOR_INVERTED)
+            .setPrimaryMotor(Params.PRIMARY_MOTOR_NAME, Params.PRIMARY_MOTOR_TYPE, Params.PRIMARY_MOTOR_INVERTED)
+            .setFollowerMotor(Params.FOLLOWER_MOTOR_NAME, Params.FOLLOWER_MOTOR_TYPE, Params.FOLLOWER_MOTOR_INVERTED)
             .setLowerLimitSwitch(Params.LOWER_LIMITSW_NAME, Params.LOWER_LIMITSW_INVERTED)
             .setPositionScaleAndOffset(Params.INCHES_PER_COUNT, Params.POS_OFFSET)
             .setPositionPresets(Params.POS_PRESET_TOLERANCE, Params.posPresets);

TeamCode/src/main/java/teamcode/subsystems/ServoWrist.java

@@ -29,9 +29,11 @@ import trclib.robotcore.TrcEvent;
 import trclib.subsystem.TrcSubsystem;
 
 /**
- * This class creates the Servo Wrist subsystem. The Servo Wrist subsystem is a 1-DOF system that consists of a servo.
+ * This class creates the Servo Wrist subsystem. This implementation is a 1-DOF system that consists of a servo.
  * It allows the wrist to tilt up and down. Regular servos have a limited * range of movement. Therefore, it limits
  * the tilting range of the wrist.
+ * There are many possible implementations by setting different parameters.
+ * Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
  */
 public class ServoWrist extends TrcSubsystem
 {
@@ -50,7 +52,6 @@ public class ServoWrist extends TrcSubsystem
 
         public static final double POS_PRESET_TOLERANCE         = 1.0;      // in degrees
         public static final double[] tiltPosPresets             = {-110, -90.0, -45.0, 0.0, 45.0, 90.0, 110};
-        public static final double[] rotatePosPresets           = {-90.0, -45.0, 0.0, 45.0, 90.0};
     }   //class Params
 
     private final FtcDashboard dashboard;

TeamCode/src/main/java/teamcode/subsystems/Shooter.java

@@ -32,13 +32,15 @@ import trclib.subsystem.TrcShooter;
 import trclib.subsystem.TrcSubsystem;
 
 /**
- * This class implements an Shooter Subsystem. The shooter subsystem consists of one or two shooter motors. For
+ * This class implements an Shooter Subsystem. This implementation consists of one or two shooter motors. For
  * two-motor shooter, the two motors can be arranged to spin in the same direction (2-stage shooting) or in opposite
  * directions. For opposite spinning motor arrangement, one can spin the motors at different speed to create back spin
  * when shooting the object. In the two-motor configuration, because the two motors may not be identical (even if they
  * are the same model), the subsystem allows you to tune different PID coefficients for each motor. The shooter
  * subsystem also supports optionally mounting on a pan and tilt platform. This allows for aiming the shooter at
  * the shooting target.
+ * There are many possible implementations by setting different parameters.
+ * Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
  */
 public class Shooter extends TrcSubsystem
 {

TeamCode/src/main/java/teamcode/subsystems/Turret.java

@@ -30,11 +30,13 @@ import trclib.robotcore.TrcEvent;
 import trclib.subsystem.TrcSubsystem;
 
 /**
- * This class implements a Turret Subsystem. The Turret subsystem consists of a motor with built-in encoder. It has
+ * This class implements a Turret Subsystem. This implementation consists of a motor with built-in encoder. It has
  * a lower limit switch for zero calibrating the built-in relative encoder. Since Turret is circular in nature, it
  * is recommended to implement a hard stop to prevent the Turret from overrunning the upper limit causing the wiring
  * harness to be twisted. Even though we do implement soft limits on the Turret, hard stop would prevent folks from
  * spinning the turret round and round twisting the wiring harness when the robot is off.
+ * There are many possible implementations by setting different parameters.
+ * Please refer to the TrcLib documentation (<a href="https://trc492.github.io">...</a>) for details.
  */
 public class Turret extends TrcSubsystem
 {