diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.h b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.h
index 8991ce60fe5..ef01bc4e679 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.h
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousDistance.h
@@ -15,6 +15,12 @@ class AutonomousDistance
     : public frc2::CommandHelper<frc2::SequentialCommandGroup,
                                  AutonomousDistance> {
  public:
+  /**
+   * Creates a new Autonomous Drive based on distance. This will drive out for a
+   * specified distance, turn around and drive back.
+   *
+   * @param drive The drivetrain subsystem on which this command will run
+   */
   explicit AutonomousDistance(Drivetrain* drive) {
     AddCommands(
         DriveDistance(-0.5, 10_in, drive), TurnDegrees(-0.5, 180_deg, drive),
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.h b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.h
index e25e5ea3af9..1666d47322f 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.h
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/AutonomousTime.h
@@ -14,6 +14,14 @@
 class AutonomousTime
     : public frc2::CommandHelper<frc2::SequentialCommandGroup, AutonomousTime> {
  public:
+  /**
+   * Creates a new Autonomous Drive based on time. This will drive out for a
+   * period of time, turn around for time (equivalent to time to turn around)
+   * and drive forward again. This should mimic driving out, turning around and
+   * driving back.
+   *
+   * @param drive The drive subsystem on which this command will run
+   */
   explicit AutonomousTime(Drivetrain* drive) {
     AddCommands(DriveTime(-0.6, 2_s, drive), TurnTime(-0.5, 1.3_s, drive),
                 DriveTime(-0.6, 2_s, drive), TurnTime(0.5, 1.3_s, drive));
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.h b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.h
index 60115314010..41c5c12f72c 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.h
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveDistance.h
@@ -12,6 +12,14 @@
 
 class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
  public:
+  /**
+   * Creates a new DriveDistance. This command will drive your your robot for a
+   * desired distance at a desired speed.
+   *
+   * @param speed The speed at which the robot will drive
+   * @param inches The number of inches the robot will drive
+   * @param drive The drivetrain subsystem on which this command will run
+   */
   DriveDistance(double speed, units::meter_t distance, Drivetrain* drive)
       : m_speed(speed), m_distance(distance), m_drive(drive) {
     AddRequirements(m_drive);
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.h b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.h
index 9dfd240447e..58753924f08 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.h
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/DriveTime.h
@@ -13,6 +13,14 @@
 
 class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
  public:
+  /**
+   * Creates a new DriveTime. This command will drive your robot for a desired
+   * speed and time.
+   *
+   * @param speed The speed which the robot will drive. Negative is in reverse.
+   * @param time How much time to drive
+   * @param drive The drivetrain subsystem on which this command will run
+   */
   DriveTime(double speed, units::second_t time, Drivetrain* drive)
       : m_speed(speed), m_duration(time), m_drive(drive) {
     AddRequirements(m_drive);
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.h b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.h
index fe2e2410287..c2c35b7d4b9 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.h
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TeleopArcadeDrive.h
@@ -14,6 +14,14 @@
 class TeleopArcadeDrive
     : public frc2::CommandHelper<frc2::Command, TeleopArcadeDrive> {
  public:
+  /**
+   * Creates a new ArcadeDrive. This command will drive your robot according to
+   * the speed suppliers. This command does not terminate.
+   *
+   * @param drivetrain The drivetrain subsystem on which this command will run
+   * @param xaxisSpeedSupplier Supplier of forward/backward speed
+   * @param zaxisRotateSupplier Supplier of rotational speed
+   */
   TeleopArcadeDrive(Drivetrain* subsystem,
                     std::function<double()> xaxisSpeedSupplier,
                     std::function<double()> zaxisRotateSupplier);
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.h b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.h
index c0f25b19002..e903c4dc83d 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.h
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnDegrees.h
@@ -13,6 +13,14 @@
 
 class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
  public:
+  /**
+   * Creates a new TurnDegrees. This command will turn your robot for a desired
+   * rotation (in degrees) and rotational speed.
+   *
+   * @param speed The speed which the robot will drive. Negative is in reverse.
+   * @param angle Degrees to turn. Leverages encoders to compare distance.
+   * @param drive The drive subsystem on which this command will run
+   */
   TurnDegrees(double speed, units::degree_t angle, Drivetrain* drive)
       : m_speed(speed), m_angle(angle), m_drive(drive) {
     AddRequirements(m_drive);
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.h b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.h
index 3c478a834db..28a7b5fea74 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.h
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.h
@@ -13,6 +13,13 @@
 
 class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
  public:
+  /**
+   * Creates a new TurnTime.
+   *
+   * @param speed The speed which the robot will turn. Negative is in reverse.
+   * @param time How much time to turn
+   * @param drive The drive subsystem on which this command will run
+   */
   TurnTime(double speed, units::second_t time, Drivetrain* drive)
       : m_speed(speed), m_duration(time), m_drive(drive) {
     AddRequirements(m_drive);
diff --git a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.h
index 050988e8821..5a5c550861f 100644
--- a/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.h
@@ -79,32 +79,44 @@ class Drivetrain : public frc2::SubsystemBase {
   units::meter_t GetAverageDistance();
 
   /**
-   * Returns the acceleration along the X-axis, in m/s².
+   * The acceleration in the X-axis.
+   *
+   * @return The acceleration of the XRP along the X-axis.
    */
   units::meters_per_second_squared_t GetAccelX();
 
   /**
-   * Returns the acceleration along the Y-axis, in m/s².
+   * The acceleration in the Y-axis.
+   *
+   * @return The acceleration of the XRP along the Y-axis.
    */
   units::meters_per_second_squared_t GetAccelY();
 
   /**
-   * Returns the acceleration along the Z-axis, in m/s².
+   * The acceleration in the Z-axis.
+   *
+   * @return The acceleration of the XRP along the Z-axis.
    */
   units::meters_per_second_squared_t GetAccelZ();
 
   /**
-   * Returns the current angle of the Romi around the X-axis, in degrees.
+   * Current angle of the XRP around the X-axis.
+   *
+   * @return The current angle of the XRP.
    */
   units::radian_t GetGyroAngleX();
 
   /**
-   * Returns the current angle of the Romi around the Y-axis, in degrees.
+   * Current angle of the XRP around the Y-axis.
+   *
+   * @return The current angle of the XRP.
    */
   units::radian_t GetGyroAngleY();
 
   /**
-   * Returns the current angle of the Romi around the Z-axis, in degrees.
+   * Current angle of the XRP around the Z-axis.
+   *
+   * @return The current angle of the XRP.
    */
   units::radian_t GetGyroAngleZ();