diff --git a/..gitignore.un~ b/..gitignore.un~
new file mode 100644
index 0000000..93c0c0f
Binary files /dev/null and b/..gitignore.un~ differ
diff --git a/.gitignore b/.gitignore
index 748cfc0..8ecd22b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 build
 *.iml
+.idea
diff --git a/.gitignore~ b/.gitignore~
new file mode 100644
index 0000000..748cfc0
--- /dev/null
+++ b/.gitignore~
@@ -0,0 +1,2 @@
+build
+*.iml
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/DogeCV.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/DogeCV.java
index 8983b7c..39d2634 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/DogeCV.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/DogeCV.java
@@ -4,6 +4,10 @@
  * Contains global values and types
  */
 public class DogeCV {
+    /**
+     * The possible speeds for detection, the faster the less accurate and the
+     * slower the more accurate
+     */
     public enum DetectionSpeed {
         VERY_FAST,
         FAST,
@@ -12,18 +16,27 @@ public enum DetectionSpeed {
         VERY_SLOW
     }
 
+    /**
+     * The possible ways to score
+     */
     public enum AreaScoringMethod {
         MAX_AREA,
         PERFECT_AREA,
         COLOR_DEVIATION
     }
 
+    /**
+     * The different cameras that can be used
+     */
     public enum CameraMode {
         BACK,
         FRONT,
         WEBCAM
     }
 
+    /**
+     * The different VuMarks for the Rover Ruckus challenge
+     */
     public enum VuMark {
         NONE,
         BLUE_ROVER,
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/BlankDetector.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/BlankDetector.java
index d2e8b3c..a37a0d4 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/BlankDetector.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/BlankDetector.java
@@ -8,15 +8,25 @@
 
 /**
  * Created by Victo on 12/17/2017.
+ *
+ * An empty detector
  */
 
 public class BlankDetector extends DogeCVDetector {
+    /**
+     * Returns the input mat
+     * @param input the mat to return
+     * @return the input mat
+     */
     @Override
     public Mat process(Mat input) {
         // Process frame
         return input;
     }
 
+    /**
+     * Does nothing; in a real detector it would add the scorers
+     */
     @Override
     public void useDefaults() {
         // Add in your scorers here.
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/DogeCVDetector.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/DogeCVDetector.java
index f5f1eca..b1db0c8 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/DogeCVDetector.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/DogeCVDetector.java
@@ -17,11 +17,21 @@
 
 /**
  * Created by Victo on 9/10/2018.
+ *
+ * A base class for detectors
  */
 
 public abstract class DogeCVDetector extends OpenCVPipeline{
-
+    /**
+     * Processes the input mat
+     * @param input the mat to be processed
+     * @return the processed mat
+     */
     public abstract Mat process(Mat input);
+
+    /**
+     * Should set the defaults, typically just the scorer
+     */
     public abstract void useDefaults();
 
     private List<DogeCVScorer> scorers = new ArrayList<>();
@@ -43,14 +53,28 @@ public DogeCVDetector(){
 
     }
 
+    /**
+     * Sets the speed of the detector
+     * @param speed the speed to set
+     */
     public void setSpeed(DogeCV.DetectionSpeed speed){
         this.speed = speed;
     }
 
+    /**
+     * Gives the detector a new scorer
+     *
+     * @param newScorer
+     */
     public void addScorer(DogeCVScorer newScorer){
         scorers.add(newScorer);
     }
 
+    /**
+     * Calculates the score for a given input mat
+     * @param input the mat to calculate the score for
+     * @return the score of the input mat
+     */
     public double calculateScore(Mat input){
         double totalScore = 0;
 
@@ -62,7 +86,10 @@ public double calculateScore(Mat input){
     }
 
 
-
+    /**
+     * Returns a frame to display on the RC phone
+     * @return the altered frame with version, speed, etc
+     */
     @Override
     public Mat processFrame(Mat rgba, Mat gray) {
         initSize = rgba.size();
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/GenericDetector.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/GenericDetector.java
index 79da6e3..7c068b8 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/GenericDetector.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/GenericDetector.java
@@ -20,6 +20,9 @@
 
 /**
  * Created by Victo on 9/10/2018.
+ *
+ * A generic detector that works on many situations with many configuration
+ * options
  */
 
 public class GenericDetector extends DogeCVDetector {
@@ -35,13 +38,31 @@ public class GenericDetector extends DogeCVDetector {
     private Point   screenPosition = new Point(); // Screen position of the mineral
     private Rect    foundRect = new Rect(); // Found rect
 
+    /**
+     * The AreaScoringMethod to use (defaults to MAX_AREA)
+     */
     public DogeCV.AreaScoringMethod areaScoringMethod = DogeCV.AreaScoringMethod.MAX_AREA; // Setting to decide to use MaxAreaScorer or PerfectAreaScorer
 
     //Create the default filters and scorers
+    /**
+     * The DogeCVColorFilter to use (defaults to LeviColorFilter on RED)
+     */
     public DogeCVColorFilter colorFilter       = new LeviColorFilter(LeviColorFilter.ColorPreset.RED); //Default Yellow filter
 
+    /**
+     * The default RatioScorer which finds perfect squares
+     */
     public RatioScorer       ratioScorer       = new RatioScorer(1.0, 3);          // Used to find perfect squares
+
+    /**
+     * The default MaxAreaScorer which finds perfect squares
+     */
     public MaxAreaScorer     maxAreaScorer     = new MaxAreaScorer( 0.01);                    // Used to find largest objects
+
+    /**
+     * The default RatioScorer which finds objects that have an area closest to
+     * 5000 pixels
+     */
     public PerfectAreaScorer perfectAreaScorer = new PerfectAreaScorer(5000,0.05); // Used to find objects near a tuned area value
 
     /**
@@ -52,7 +73,11 @@ public GenericDetector() {
         detectorName = "Generic Detector"; // Set the detector name
     }
 
-
+    /**
+     * Processes the frame by using the specified options
+     * @param input the Mat to process
+     * @return the processed Mat
+     */
     @Override
     public Mat process(Mat input) {
 
@@ -112,6 +137,9 @@ public Mat process(Mat input) {
 
     }
 
+    /**
+     * Runs the appropriate scorer, based on areaScoringMethod
+     */
     @Override
     public void useDefaults() {
         addScorer(ratioScorer);
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/GoldAlignDetector.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/GoldAlignDetector.java
index ad21558..0c47789 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/GoldAlignDetector.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/GoldAlignDetector.java
@@ -38,18 +38,46 @@ public class GoldAlignDetector extends DogeCVDetector {
     private double  goldYPos = 0;     // Y Position (in pixels) of the gold element
 
     // Detector settings
+    /**
+     * Determines whether or not debug lines should be shown
+     */
     public boolean debugAlignment = true; // Show debug lines to show alignment settings
+
+    /**
+     * How far from the center frame the gold is
+     */
     public double alignPosOffset  = 0;    // How far from center frame is aligned
+
+    /**
+     * The margin for error on alignment
+     */
     public double alignSize       = 100;  // How wide is the margin of error for alignment
 
+    /**
+     * The wanted AreaScoringMethod
+     */
     public DogeCV.AreaScoringMethod areaScoringMethod = DogeCV.AreaScoringMethod.MAX_AREA; // Setting to decide to use MaxAreaScorer or PerfectAreaScorer
 
 
     //Create the default filters and scorers
+    /**
+     * The wanted DogeCVColorFilter
+     */
     public DogeCVColorFilter yellowFilter      = new LeviColorFilter(LeviColorFilter.ColorPreset.YELLOW); //Default Yellow filter
 
+    /**
+     * The wanted RatioScorer
+     */
     public RatioScorer       ratioScorer       = new RatioScorer(1.0, 3);          // Used to find perfect squares
+
+    /**
+     * The wanted MaxAreaScorer
+     */
     public MaxAreaScorer     maxAreaScorer     = new MaxAreaScorer( 0.01);                    // Used to find largest objects
+
+    /**
+     * The wanted PerfectAreaScorer
+     */
     public PerfectAreaScorer perfectAreaScorer = new PerfectAreaScorer(5000,0.05); // Used to find objects near a tuned area value
 
     /**
@@ -60,7 +88,11 @@ public GoldAlignDetector() {
         detectorName = "Gold Align Detector"; // Set the detector name
     }
 
-
+    /**
+     * Processes the input mat
+     * @param input the mat to process
+     * @return the processed mat
+     */
     @Override
     public Mat process(Mat input) {
 
@@ -153,6 +185,9 @@ public Mat process(Mat input) {
 
     }
 
+    /**
+     * Sets the scorer based on areaScoringMethod
+     */
     @Override
     public void useDefaults() {
         addScorer(ratioScorer);
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/GoldDetector.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/GoldDetector.java
index 5efb359..7f0eade 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/GoldDetector.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/GoldDetector.java
@@ -24,6 +24,8 @@
 
 /**
  * Created by Victo on 9/10/2018.
+ *
+ * Detects Gold
  */
 
 public class GoldDetector extends DogeCVDetector {
@@ -39,13 +41,30 @@ public class GoldDetector extends DogeCVDetector {
     private Point   screenPosition = new Point(); // Screen position of the mineral
     private Rect    foundRect = new Rect(); // Found rect
 
+    /**
+     * The wanted AreaScoringMethod
+     */
     public DogeCV.AreaScoringMethod areaScoringMethod = DogeCV.AreaScoringMethod.MAX_AREA; // Setting to decide to use MaxAreaScorer or PerfectAreaScorer
 
     //Create the default filters and scorers
+    /**
+     * The wanted DogeCVFilter
+     */
     public DogeCVColorFilter yellowFilter      = new LeviColorFilter(LeviColorFilter.ColorPreset.YELLOW); //Default Yellow filter
 
+    /**
+     * The wanted RatioScorer
+     */
     public RatioScorer       ratioScorer       = new RatioScorer(1.0, 3);          // Used to find perfect squares
+
+    /**
+     * The wanted MaxAreaScorer
+     */
     public MaxAreaScorer     maxAreaScorer     = new MaxAreaScorer( 0.01);                    // Used to find largest objects
+
+    /**
+     * The wanted PerfectAreaScorer
+     */
     public PerfectAreaScorer perfectAreaScorer = new PerfectAreaScorer(5000,0.05); // Used to find objects near a tuned area value
 
     /**
@@ -56,7 +75,11 @@ public GoldDetector() {
         detectorName = "Gold Detector"; // Set the detector name
     }
 
-
+    /**
+     * Processes the input mat
+     * @param input the mat to process
+     * @return the processed mat
+     */
     @Override
     public Mat process(Mat input) {
 
@@ -116,6 +139,9 @@ public Mat process(Mat input) {
 
     }
 
+    /**
+     * Sets the scorer based on areaScoringMethod
+     */
     @Override
     public void useDefaults() {
         addScorer(ratioScorer);
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/HoughSilverDetector.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/HoughSilverDetector.java
index fa57d18..b0e6c18 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/HoughSilverDetector.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/HoughSilverDetector.java
@@ -27,9 +27,19 @@ public class HoughSilverDetector extends DogeCVDetector {
 
     //The scorer used for this class. Based upon minimizing the standard deviation of color within each mineral,
     //I.e, if the region is actually a mineral it should be fairly flat. (Levi is op AF - Alex)
+    /**
+     * The scorer, defaulted to ColorDevScorer
+     */
     public DogeCVScorer stdDevScorer = new ColorDevScorer();
 
+    /**
+     * The sensitivity of the circle detector
+     */
     public double sensitivity = 1.4; //Sensitivity of circle detector; between about 1.2 and 2.1;
+
+    /**
+     * The minimum distance between circles
+     */
     public double minDistance = 60; //Adjust with frame size! This is the minimum distance between circles
 
     private Mat workingMat = new Mat(); //The working mat used for internal calculations, single object to avoid memory leak
@@ -46,6 +56,11 @@ public HoughSilverDetector() {
         this.detectorName = "Hough Silver Detector";
     }
 
+    /**
+     * Processes the input mat
+     * @param input the mat to process
+     * @return the processed mat
+     */
     @Override
     public Mat process(Mat input) {
         if(input.channels() < 0 || input.cols() <= 0){
@@ -105,6 +120,9 @@ public Mat process(Mat input) {
         return displayMat;
     }
 
+    /**
+     * Adds a ColorDevScorer as a scorer
+     */
     @Override
     public void useDefaults() {
         addScorer(stdDevScorer);
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/SamplingOrderDetector.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/SamplingOrderDetector.java
index 58ca961..4267de5 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/SamplingOrderDetector.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/SamplingOrderDetector.java
@@ -33,6 +33,10 @@
 public class SamplingOrderDetector extends DogeCVDetector {
 
     // Enum to describe gold location
+
+    /**
+     * The possible locations for gold on the sampling field
+     */
     public enum GoldLocation {
         UNKNOWN,
         LEFT,
@@ -41,15 +45,38 @@ public enum GoldLocation {
     }
 
     // Which area scoring method to use
+
+    /**
+     * The wanted AreaScoringMethod
+     */
     public DogeCV.AreaScoringMethod areaScoringMethod = DogeCV.AreaScoringMethod.MAX_AREA;
 
     //Create the scorers used for the detector
+
+    /**
+     * The wanted RatioScorer
+     */
     public RatioScorer ratioScorer             = new RatioScorer(1.0,5);
+
+    /**
+     * The wanted MaxAreaScorer
+     */
     public MaxAreaScorer maxAreaScorer         = new MaxAreaScorer(0.01);
+
+    /**
+     * The wanted PerfectAreaScorer
+     */
     public PerfectAreaScorer perfectAreaScorer = new PerfectAreaScorer(5000,0.05);
 
     //Create the filters used
+    /**
+     * The color filter for yellow
+     */
     public DogeCVColorFilter yellowFilter = new LeviColorFilter(LeviColorFilter.ColorPreset.YELLOW,100);
+
+    /**
+     * The color filter for white
+     */
     public DogeCVColorFilter whiteFilter  = new HSVRangeFilter(new Scalar(0,0,200), new Scalar(50,40,255));
 
 
@@ -65,11 +92,19 @@ public enum GoldLocation {
     private Mat whiteMask   = new Mat();
     private Mat hiarchy     = new Mat();
 
+    /**
+     * A simple constructor
+     */
     public SamplingOrderDetector() {
         super();
         this.detectorName = "Sampling Order Detector";
     }
 
+    /**
+     * Processes the input mat
+     * @param input the mat to process
+     * @return the processed mat
+     */
     @Override
     public Mat process(Mat input) {
 
@@ -259,6 +294,9 @@ else if(diffrenceScore < chosenWhiteScore.get(1) && diffrenceScore > chosenWhite
         return displayMat;
     }
 
+    /**
+     * Sets the scorer based on areaScoringMethod
+     */
     @Override
     public void useDefaults() {
         if(areaScoringMethod == DogeCV.AreaScoringMethod.MAX_AREA){
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/SilverDetector.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/SilverDetector.java
index 4170271..96da6c4 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/SilverDetector.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/SilverDetector.java
@@ -25,6 +25,8 @@
 
 /**
  * Created by Victo on 9/10/2018.
+ *
+ * Detects silber
  */
 
 public class SilverDetector extends DogeCVDetector {
@@ -40,13 +42,30 @@ public class SilverDetector extends DogeCVDetector {
     private Point   screenPosition = new Point(); // Screen position of the mineral
     private Rect    foundRect = new Rect(); // Found rect
 
+    /**
+     * The wanted AreaScoringMethod
+     */
     public DogeCV.AreaScoringMethod areaScoringMethod = DogeCV.AreaScoringMethod.MAX_AREA; // Setting to decide to use MaxAreaScorer or PerfectAreaScorer
 
     //Create the default filters and scorers
+    /**
+     * The white color filter
+     */
     public DogeCVColorFilter whiteFilter  = new HSVRangeFilter(new Scalar(0,0,200), new Scalar(50,40,255));
 
+    /**
+     * The wanted RatioScorer
+     */
     public RatioScorer       ratioScorer       = new RatioScorer(1.0, 3);          // Used to find perfect squares
+
+    /**
+     * The wanted MaxAreaScorer
+     */
     public MaxAreaScorer     maxAreaScorer     = new MaxAreaScorer( 0.01);                    // Used to find largest objects
+
+    /**
+     * The wanted PerfectAreaScorer
+     */
     public PerfectAreaScorer perfectAreaScorer = new PerfectAreaScorer(5000,0.05); // Used to find objects near a tuned area value
 
     /**
@@ -57,7 +76,11 @@ public SilverDetector() {
         detectorName = "Silver Detector"; // Set the detector name
     }
 
-
+    /**
+     * Processes the input mat
+     * @param input the mat to process
+     * @return the processed mat
+     */
     @Override
     public Mat process(Mat input) {
 
@@ -117,6 +140,9 @@ public Mat process(Mat input) {
 
     }
 
+    /**
+     * Sets the scorer based on areaScoringMethod
+     */
     @Override
     public void useDefaults() {
         addScorer(ratioScorer);
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/VuMarkDetector.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/VuMarkDetector.java
index db88ae9..2a5d92c 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/VuMarkDetector.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/detectors/roverrukus/VuMarkDetector.java
@@ -6,14 +6,25 @@
 
 /**
  * Created by LeviG on 1/20/2019.
+ *
+ * An incomplete VuMark detector
  */
 
 public class VuMarkDetector extends DogeCVDetector {
 
+    /**
+     * Returns the input frame
+     * @param rgba the input frame
+     * @return the input frame
+     */
     @Override
     public Mat process(Mat rgba) {
         return rgba;
     }
+
+    /**
+     * Does nothing, should set the scorer
+     */
     @Override
     public void useDefaults() {}
 }
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/DogeCVColorFilter.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/DogeCVColorFilter.java
index b6c2fd7..52999c4 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/DogeCVColorFilter.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/DogeCVColorFilter.java
@@ -4,9 +4,17 @@
 
 /**
  * Created by Victo on 1/1/2018.
+ *
+ * A color filter interface
  */
 
 public abstract class DogeCVColorFilter {
+    /**
+     * Takes an input Mat and then puts the filtered result on the mask Mat
+     *
+     * @param input the Mat to filter
+     * @param mask the Mat to put things that passs the filter
+     */
     public abstract void process(Mat input, Mat mask);
 
 }
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/HSVColorFilter.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/HSVColorFilter.java
index d8dd6ab..1d9efca 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/HSVColorFilter.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/HSVColorFilter.java
@@ -8,6 +8,9 @@
 
 /**
  * Created by Victo on 1/1/2018.
+ *
+ * Filters out only colors that are within a certain range on the HSV color
+ * space
  */
 
 public class HSVColorFilter extends DogeCVColorFilter{
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/HSVRangeFilter.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/HSVRangeFilter.java
index 2119c62..b89302e 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/HSVRangeFilter.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/HSVRangeFilter.java
@@ -8,6 +8,8 @@
 
 /**
  * Created by Victo on 1/1/2018.
+ *
+ * Filters out colors that are not within two specified HSV values
  */
 
 public class HSVRangeFilter extends DogeCVColorFilter{
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/LeviColorFilter.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/LeviColorFilter.java
index fa9e4ac..1922857 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/LeviColorFilter.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/filters/LeviColorFilter.java
@@ -14,10 +14,19 @@
 
 /**
  * Created by Victo on 1/1/2018.
+ *
+ * Levi's fancy color filtering:
+ *
+ * 1. Converts to CIELAB color space
+ * 2. Blurs the image
+ * 3. Retrieves the alpha component
+ * 4. Filters between a certain threshold and the maximum on the alpha component
  */
 
 public class LeviColorFilter extends DogeCVColorFilter {
-    // Color presets
+    /**
+     * Color presets
+     */
     public enum ColorPreset{
         RED,
         BLUE,
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Circle.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Circle.java
index cf0e8cd..822581c 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Circle.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Circle.java
@@ -2,6 +2,8 @@
 
 /**
  * Created by LeviG on 10/7/2018.
+ *
+ * Represents a circle
  */
 
 public class Circle {
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Line.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Line.java
index c6caa04..b727e1c 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Line.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Line.java
@@ -2,6 +2,9 @@
 
 import org.opencv.core.Point;
 
+/**
+ * Represents a Line
+ */
 public class Line implements Comparable<Line> {
 
     public Point point1;
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Lines.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Lines.java
index 2c602ea..4d18494 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Lines.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Lines.java
@@ -16,6 +16,9 @@
 import org.opencv.imgproc.Imgproc;
 import org.opencv.imgproc.LineSegmentDetector;
 
+/**
+ * Useful methods for lines
+ */
 
 public class Lines {
 
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/math/MathFTC.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/math/MathFTC.java
index 166fdae..f7d294a 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/math/MathFTC.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/math/MathFTC.java
@@ -13,6 +13,9 @@
 import java.util.ArrayList;
 import java.util.List;
 
+/**
+ * Contains many useful math methods for FTC
+ */
 public class MathFTC {
 
     public static final float mmPerInch        = 25.4f;
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Points.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Points.java
index ecdde3c..1838a39 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Points.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/math/Points.java
@@ -6,6 +6,9 @@
 
 import java.util.List;
 
+/**
+ * Useful methods for Points
+ */
 public class Points {
     /**
      * Checks if a given point is within the bounds (size) of an image
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/ColorDevScorer.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/ColorDevScorer.java
index 57c1c67..baa7e47 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/ColorDevScorer.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/ColorDevScorer.java
@@ -9,6 +9,8 @@
 
 /**
  * Created by LeviG on 10/7/2018.
+ *
+ * Scores based on difference from perfect color
  */
 
 public class ColorDevScorer extends DogeCVScorer{
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/DogeCVScorer.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/DogeCVScorer.java
index 0159198..3baee95 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/DogeCVScorer.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/DogeCVScorer.java
@@ -8,8 +8,15 @@
 
 /**
  * Created by Victo on 9/10/2018.
+ *
+ * Gives a score for a given Mat for certain criteria defined in the class
  */
 
 public abstract class DogeCVScorer {
+    /**
+     * Gives the score for a given Mat
+     * @param input the Mat to check the score of
+     * @return the score for the input Mat
+     */
     public abstract double calculateScore(Mat input);
 }
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/MaxAreaScorer.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/MaxAreaScorer.java
index b631164..410f581 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/MaxAreaScorer.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/MaxAreaScorer.java
@@ -8,6 +8,8 @@
 
 /**
  * Created by Victo on 9/10/2018.
+ *
+ * Scores the largest contours the highest
  */
 
 public class MaxAreaScorer extends DogeCVScorer{
@@ -18,7 +20,6 @@ public class MaxAreaScorer extends DogeCVScorer{
      */
     public MaxAreaScorer( double weight){
         this.weight = weight;
-
     }
 
     /**
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/PerfectAreaScorer.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/PerfectAreaScorer.java
index f260484..27de4cf 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/PerfectAreaScorer.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/PerfectAreaScorer.java
@@ -6,6 +6,8 @@
 
 /**
  * Created by Victo on 9/10/2018.
+ *
+ * Scores based on the difference from the ideal area
  */
 
 public class PerfectAreaScorer extends DogeCVScorer {
diff --git a/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/RatioScorer.java b/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/RatioScorer.java
index e6aacb6..9c88c24 100644
--- a/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/RatioScorer.java
+++ b/DogeCV/src/main/java/com/disnodeteam/dogecv/scoring/RatioScorer.java
@@ -11,6 +11,8 @@
 
 /**
  * Created by Victo on 9/10/2018.
+ *
+ * Scores based on the h/w and w/h ratio of the input contour
  */
 
 public class RatioScorer extends DogeCVScorer{