diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 261c744..32c926f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -154,4 +154,9 @@ public class RobotVersion2024 implements RobotVersionConstants {
   }
 
   public static final RobotVersion defaultRobotVersion = RobotVersion.v2024;
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 1;
+  }
 }
diff --git a/src/main/java/frc/robot/Other/Explanations.java b/src/main/java/frc/robot/Other/Explanations.java
new file mode 100644
index 0000000..963c3eb
--- /dev/null
+++ b/src/main/java/frc/robot/Other/Explanations.java
@@ -0,0 +1,92 @@
+package frc.robot.Other;
+
+import frc.robot.subsystems.*;
+import frc.robot.Constants;
+import frc.robot.Robot;
+import frc.robot.RobotContainer;
+import frc.robot.commands.*;
+
+/**
+ * Here, Explanations of How everything works are held.
+ *
+ * <p>When Within The class:
+ *
+ * <p>{@code - Hover over the Green Part to Get a basic explanation}
+ *
+ * <p>{@code - Hover over the Yellow Part for a More Detailed explanation}
+ *
+ * <p>{@code - Hover over The Blue Part to find what your getting an Explanation of}
+ *
+ * <p>EX: int {@link #DriveTrainExplanation} (Blue) = {@link DriveTrain} (Green) {@link
+ * DriveTrain#Explanation} (Yellow)
+ *
+ * <p>Sub Explanations are down Below:
+ *
+ * <ul>
+ *   <li>Init Sendable:
+ *       <ul>
+ *         <li>Sendable objects are things that can be sent to the smart dashboard (WHEN TALKING
+ *             ABOUT FRC!!!!).
+ *         <li>Initializing a sendable object sends that object to the smart dashboard.
+ *         <li>To send other things to the smart dashboard, Use the sendable builder (the thing that
+ *             sends stuff)
+ *         <li>EX: {@link Hanger#initSendable} and {@link DriveTrain#initSendable}
+ *         <li>In order to send variables, you must do {@code builder.addDoubleProperty} (Instead of
+ *             Double do variable type of choice)
+ *       </ul>
+ */
+public class Explanations {
+
+  public abstract class SubsystemExplanations {
+
+    int DriveTrainExplanation = DriveTrain.Explanation();
+
+    int HangerExplanation = Hanger.Explanation();
+
+    int HangerModuleExplanation = HangerModule.Explanation();
+
+    int IntakeExplanation = Intake.Explanation();
+
+    int IntakeWheelsExplanation = IntakeWheels.Explanation();
+
+    int LimelightExplanation = Limelight.Explanation();
+
+    int ShooterExplanation = Shooter.Explanation();
+
+    int SwerveModuleExplanation = SwerveModule.Explanation();
+  }
+
+  public abstract class RobotExplanations {
+
+    int ConstantsExplanation = Constants.Explanation();
+
+    int RobotExplanation = Robot.Explanation();
+
+    int RobotContainerExplanation = RobotContainer.Explanation();
+
+    // Main.java Is where we initialize our robot.
+    // It is told which code based (Timed or Command Based or Custom) via the Robot.java class (As
+    // seen in the Main File)
+    // DO NOT CREATE ANYTHING IN MAIN.JAVA
+
+  }
+
+  public abstract class CommandExplanation {
+
+    int AprilAlignToSpeakerRadiallyCommandExplanation =
+        AprilAlignToSpeakerRadiallyCommand.Explanation();
+
+    int AprilAlignToTransformCommandExplanation = AprilAlignToTransformCommand.Explanation();
+
+    int AutoIntakeExplanation = AutoIntake.Explanation();
+
+    int AutoShooterExplanation = AutoShooter.Explanation();
+
+    int OrientShooterAngleExplanation = OrientShooterAngle.Explanation();
+
+    int OrientShooterAngleByEncoderValueExplanation =
+        OrientShooterAngleByEncoderValue.Explanation();
+
+    int SwerveDriveCommandExplanation = SwerveDriveCommand.Explanation();
+  }
+}
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 5f28f59..c64122d 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -74,4 +74,9 @@ public void simulationInit() {}
 
   @Override
   public void simulationPeriodic() {}
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 2;
+  }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4c7d03b..d7894a1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -320,4 +320,9 @@ public Command getAutonomousCommand() {
     return autoCommand.beforeStarting(
         () -> m_DriveTrain.resetPose(new Pose2d(1.27, 5.55, new Rotation2d())));
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 3;
+  }
 }
diff --git a/src/main/java/frc/robot/commands/AprilAlignToSpeakerRadiallyCommand.java b/src/main/java/frc/robot/commands/AprilAlignToSpeakerRadiallyCommand.java
index e1eec59..ab9412e 100644
--- a/src/main/java/frc/robot/commands/AprilAlignToSpeakerRadiallyCommand.java
+++ b/src/main/java/frc/robot/commands/AprilAlignToSpeakerRadiallyCommand.java
@@ -147,4 +147,9 @@ public boolean RobotIsWithinGoalRadius() {
   public boolean isFinished() {
     return omegaController.atGoal() && RobotIsWithinGoalRadius();
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 1;
+  }
 }
diff --git a/src/main/java/frc/robot/commands/AprilAlignToTransformCommand.java b/src/main/java/frc/robot/commands/AprilAlignToTransformCommand.java
index cc913ac..c3ed0a8 100644
--- a/src/main/java/frc/robot/commands/AprilAlignToTransformCommand.java
+++ b/src/main/java/frc/robot/commands/AprilAlignToTransformCommand.java
@@ -144,4 +144,9 @@ public void end(boolean interrupted) {
   public boolean isFinished() {
     return m_rotController.atGoal() && m_xController.atGoal() && m_yController.atGoal();
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 2;
+  }
 }
diff --git a/src/main/java/frc/robot/commands/AutoIntake.java b/src/main/java/frc/robot/commands/AutoIntake.java
index c8f9fb5..972e221 100644
--- a/src/main/java/frc/robot/commands/AutoIntake.java
+++ b/src/main/java/frc/robot/commands/AutoIntake.java
@@ -54,35 +54,7 @@ public void SetIsAmpFlag(boolean isAmp) {}
 
   @Override
   public void execute() {
-    // System.out.println(m_CurrentIntakeDrivingState);
-    /*
-     * if (m_IsAmp == true) {
-     * m_CurrentIntakeDrivingState = DrivingState.DriveIntakeAmp;
-     * if (m_Intake.GetIntakeMotorAngle().getDegrees() < Intake.PosAmpAngle +
-     * s_IntakePositioningTolerence) {
-     * m_Intake.RaiseIntake();
-     * } else if (m_Intake.GetIntakeMotorAngle().getDegrees() > Intake.PosAmpAngle -
-     * s_IntakePositioningTolerence) {
-     * m_Intake.LowerIntake();
-     * } else if (m_Intake.GetIntakeMotorAngle().getDegrees() < Intake.PosAmpAngle +
-     * s_IntakePositioningTolerence
-     * && m_Intake.GetIntakeMotorAngle().getDegrees() > Intake.PosAmpAngle -
-     * s_IntakePositioningTolerence) {
-     * m_Intake.StopIntake();
-     * m_CommandIsFinished = true;
-     * }
-     *
-     * }
-     *
-     *
-     *
-     *
-     *
-     *
-     * else
-     */
     if (m_CurrentIntakeDrivingState == DrivingState.DriveIntakeDown) {
-      // if (m_Intake.GetIntakeMotorAngle().getDegrees() < Intake.PosDownAngle) {
       if (m_Intake.GetIntakeMotorAngle().getDegrees() < Intake.PosDownAngle - 40) {
         m_Intake.LowerIntake();
       } else {
@@ -118,31 +90,9 @@ public void end(boolean interrupted) {
   public boolean isFinished() {
     return m_CommandIsFinished;
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 3;
+  }
 }
-/*
- * CurrentIntakePose = m_Intake.GetIntakeMotorAngle().getDegrees();
- * if (m_Intake.IntakePos == 1){
- * TargetDeg = Pos1;
- * if (CurrentIntakePose > TargetDeg + IntakeTolerence){
- * if (CurrentIntakePose > StaticSetpointDeg){
- * m_Intake.intakeAngleMtr.set(-.25);
- * } else {
- * m_Intake.intakeAngleMtr.set(-.45);
- * }
- * } else{
- * m_Intake.intakeAngleMtr.set(0);
- * m_Intake.intakeAngleMtrEnc.setPosition(0);
- * }
- * }
- *
- * if (m_Intake.IntakePos == 2){
- * TargetDeg = Pos2;
- * if (CurrentIntakePose < TargetDeg - IntakeTolerence){
- * m_Intake.intakeAngleMtr.set(.17);
- * }
- * else {
- * m_Intake.intakeAngleMtr.set(0);
- * }
- * }
- *
- */
diff --git a/src/main/java/frc/robot/commands/AutoShooter.java b/src/main/java/frc/robot/commands/AutoShooter.java
index 886b2f6..b330696 100644
--- a/src/main/java/frc/robot/commands/AutoShooter.java
+++ b/src/main/java/frc/robot/commands/AutoShooter.java
@@ -96,4 +96,9 @@ public void end(boolean interrupted) {
   public boolean isFinished() {
     return m_aprilAlignCommand.isFinished() && m_orientShooterAngleCommand.getController().atGoal();
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 4;
+  }
 }
diff --git a/src/main/java/frc/robot/commands/OrientShooterAngle.java b/src/main/java/frc/robot/commands/OrientShooterAngle.java
index d4efb0e..0115353 100644
--- a/src/main/java/frc/robot/commands/OrientShooterAngle.java
+++ b/src/main/java/frc/robot/commands/OrientShooterAngle.java
@@ -108,4 +108,9 @@ public boolean isFinished() {
     return false;
     return getController().atGoal();
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 5;
+  }
 }
diff --git a/src/main/java/frc/robot/commands/OrientShooterAngleByEncoderValue.java b/src/main/java/frc/robot/commands/OrientShooterAngleByEncoderValue.java
index 1679003..8537421 100644
--- a/src/main/java/frc/robot/commands/OrientShooterAngleByEncoderValue.java
+++ b/src/main/java/frc/robot/commands/OrientShooterAngleByEncoderValue.java
@@ -61,4 +61,9 @@ public void end(boolean interrupted) {
   public boolean isFinished() {
     return getController().atGoal();
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 6;
+  }
 }
diff --git a/src/main/java/frc/robot/commands/SwerveDriveCommand.java b/src/main/java/frc/robot/commands/SwerveDriveCommand.java
index b96728f..7db8873 100644
--- a/src/main/java/frc/robot/commands/SwerveDriveCommand.java
+++ b/src/main/java/frc/robot/commands/SwerveDriveCommand.java
@@ -111,4 +111,9 @@ public void end(boolean interrupted) {}
   public boolean isFinished() {
     return false;
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 7;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/DriveTrain.java b/src/main/java/frc/robot/subsystems/DriveTrain.java
index 5a4b3a7..0a368e4 100644
--- a/src/main/java/frc/robot/subsystems/DriveTrain.java
+++ b/src/main/java/frc/robot/subsystems/DriveTrain.java
@@ -19,7 +19,7 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-/** Represents a swerve drive style drivetrain. */
+/** */
 public class DriveTrain extends SubsystemBase {
 
   public SwerveDriveKinematics m_kinematics =
@@ -69,10 +69,15 @@ public class DriveTrain extends SubsystemBase {
   /**
    * Our driveTrain Constructor.
    *
-   * <p>In here, we initialize our swerve modules (example -> {@link #m_frontLeft}), Get input from
-   * autonomous and initialize our odometry -> {@link #m_odometry}.
+   * <p>In here, we:
    *
-   * <p>Various other DriveTrain Related thing are initalized here too.
+   * <ul>
+   *   <li>Initialize our swerve modules (EX: {@link #m_frontLeft})
+   *   <li>Set up our autonomous builder (see below)
+   *   <li>Initialize our odometry: {@link #m_odometry}.
+   * </ul>
+   *
+   * <p>Various other DriveTrain Related things are initalized here too.
    *
    * @param RobotVersion
    */
@@ -292,7 +297,7 @@ public void driveChassisSpeeds(ChassisSpeeds chassisSpeed) {
   /**
    * Resets the Position of the Odometer, given our Current position.
    *
-   * @param Pose2d (pose2d) - The current position of the robot on the field. This is a {@link
+   * @param pose2d (pose2d) - The current position of the robot on the field. This is a {@link
    *     #resetOdometry(Pose2d)}
    */
   public void resetPose(Pose2d pose2d) {
@@ -425,4 +430,9 @@ public void initSendable(SendableBuilder builder) {
     m_backLeft.initSendable(builder);
     m_backRight.initSendable(builder);
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 1;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/Hanger.java b/src/main/java/frc/robot/subsystems/Hanger.java
index 752e637..e020835 100644
--- a/src/main/java/frc/robot/subsystems/Hanger.java
+++ b/src/main/java/frc/robot/subsystems/Hanger.java
@@ -7,14 +7,44 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
+/**
+ * This is the Hanger Class.
+ *
+ * <p>In the Hanger Class, we have our Multi-HangModule Functions and Commands Such as:
+ *
+ * <ul>
+ *   <p>{@link #RaiseHangAuto()} (Which Automatically Raises the Hang Via encoder values)
+ *   <p>{@link #LowerHangAuto()} (Which Automatically Lowers the Hang until the Switchs are hit)
+ * </ul>
+ *
+ * <p>We also Define other commands, like:
+ *
+ * <ul>
+ *   <p>{@link #HangStopCommand()} (which Stops Both Hanger Modules)
+ *   <p>{@link #ResetHangCmd()} (Which Resets the position on each of the two encoders)
+ * </ul>
+ *
+ * In order to Access each individual hanger run the following Functions:
+ *
+ * <ul>
+ *   <p>{@link #leftHangerModule()} for the Left Hanger
+ *   <p>{@link #rightHangerModule()} for the Right hanger.
+ * </ul>
+ *
+ * Look At: {@link HangerModule}
+ */
 public class Hanger extends SubsystemBase {
+
+  // Here, We create each of our two Hangers: One on the left, and one on the right.
+  // These will be initialized in the contructor, although this really doesnt matter.
   private HangerModule m_leftHanger;
   private HangerModule m_rightHanger;
 
+  // We create 2 varibles for our speeds
   public static final double s_hangSpeedUp = 0.75;
   public static final double s_hangSpeedDown = -0.75;
 
-  public Hanger() { // Limelight - get Rotation3d rel to tag. / get navx pose (Can navx get 3d?)
+  public Hanger() {
     setName("Hanger");
     m_leftHanger =
         new HangerModule(
@@ -28,20 +58,20 @@ public Hanger() { // Limelight - get Rotation3d rel to tag. / get navx pose (Can
             Constants.Port.hangerRightMagSwitchDIOC);
   }
 
-  public Command ResetHangCmd() {
-    return this.runOnce(this::ResetHangEnc);
+  public Command ResetBothHangEncCmd() {
+    return this.runOnce(this::ResetBothHangEnc);
   }
 
-  public void StopHangers() {
+  public void StopBothHangers() {
     leftHangerModule().HangStop();
     rightHangerModule().HangStop();
   }
 
   public Command HangStopCommand() {
-    return this.runOnce(this::StopHangers);
+    return this.runOnce(this::StopBothHangers);
   }
 
-  public void ResetHangEnc() {
+  public void ResetBothHangEnc() {
     leftHangerModule().ResetHangEnc();
     rightHangerModule().ResetHangEnc();
   }
@@ -57,14 +87,8 @@ public HangerModule rightHangerModule() {
   /** Raises hang when Held. Will stop at top position */
   public Command RaiseHangAuto() {
     Command cmd =
-        Commands.parallel(
-                rightHangerModule()
-                    .runEnd(rightHangerModule()::MoveHangUp, rightHangerModule()::HangStop)
-                    .until(rightHangerModule()::HangIsAtPosition),
-                leftHangerModule()
-                    .runEnd(leftHangerModule()::MoveHangUp, leftHangerModule()::HangStop)
-                    .until(leftHangerModule()::HangIsAtPosition))
-            .finallyDo(this::StopHangers);
+        Commands.parallel(rightHangerModule().AutoHangUp, leftHangerModule().AutoHangUp)
+            .finallyDo(this::StopBothHangers);
 
     cmd.addRequirements(this);
 
@@ -74,14 +98,8 @@ public Command RaiseHangAuto() {
   /** Lowers hang when Held. Will stop when it hits the limit switch */
   public Command LowerHangAuto() {
     Command cmd =
-        Commands.parallel(
-                rightHangerModule()
-                    .runEnd(rightHangerModule()::MoveHangDown, rightHangerModule()::HangStop)
-                    .until(rightHangerModule()::HangIsDown),
-                leftHangerModule()
-                    .runEnd(leftHangerModule()::MoveHangDown, leftHangerModule()::HangStop)
-                    .until(leftHangerModule()::HangIsDown))
-            .finallyDo(this::StopHangers);
+        Commands.parallel(rightHangerModule().AutoHangDown, leftHangerModule().AutoHangDown)
+            .finallyDo(this::StopBothHangers);
 
     cmd.addRequirements(this);
 
@@ -89,9 +107,35 @@ public Command LowerHangAuto() {
   }
 
   @Override
+
+  // Here, We Initialize this subsystem as a sendable object (By running the super method)
+  // Then, we send over our left hanger module and right hanger module
+  // Both the LeftHangerModule and Right Hanger Module's will be send to the smart dashboard, along
+  // with the Hanger class
+  // By sending over the Left and right modules, we are avoiding individually sending things
+  // Basically, by sending the 2 modules, we are duplicating what they send. (INSIDE OF THE HANGER
+  // MODULE CLASS)
+
   public void initSendable(SendableBuilder builder) {
     super.initSendable(builder);
     leftHangerModule().initSendable(builder);
     rightHangerModule().initSendable(builder);
   }
+
+  /**
+   * <b> DETAILED EXPLANATION </b>
+   *
+   * <p>We run our hanger subsystem like other Command-Based Subsystems are ran:
+   *
+   * <ul>
+   *   <li>We create our Motors (or in this case Modules)
+   *   <li>We make void functions telling both modules what to do. (just for Finally Do's),
+   *       <ul>
+   *         <li>We use the void functions from HangerModule to do so.
+   *       </ul>
+   *   <li>We create our simple commands in the Hanger Module, and call them here.
+   */
+  public static int Explanation() {
+    return 2;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/HangerModule.java b/src/main/java/frc/robot/subsystems/HangerModule.java
index 5f6b74d..b4f8ac7 100644
--- a/src/main/java/frc/robot/subsystems/HangerModule.java
+++ b/src/main/java/frc/robot/subsystems/HangerModule.java
@@ -7,6 +7,14 @@
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 
+/**
+ * This is the HangerModule class
+ *
+ * <p>This class is used to create individual HangerModules
+ *
+ * <p>We do this because it is unneccesary to recreate The MotorController, Limit switch, and
+ * Encoder 2 times.
+ */
 public class HangerModule extends SubsystemBase {
   private DigitalInput hangerMagSwitch;
   private CANSparkMax hangerMtr;
@@ -22,42 +30,74 @@ public HangerModule(
     ResetHangEnc();
   }
 
+  /**
+   * This is a void function.
+   *
+   * <p>It sets the position on the encoder to 0
+   */
   public void ResetHangEnc() {
     hangerMtrEnc.setPosition(0);
   }
 
+  /** This is a command that runs the void function {@link #ResetHangEnc} */
   public Command ResetHangCmd() {
     return this.runOnce(this::ResetHangEnc);
   }
 
+  /**
+   * This void function runs the Motor at what ever speed is provided.
+   *
+   * @param speed (double)
+   */
   public void MoveHang(double speed) {
     hangerMtr.set(speed);
   }
 
+  /**
+   * This void function runs {@link #MoveHang} and tells the Hanger to run at {@link
+   * Hanger#s_hangSpeedUp}
+   * <li>This moves the Hanger up.
+   */
   public void MoveHangUp() {
     MoveHang(Hanger.s_hangSpeedUp);
   }
 
+  /**
+   * This void function runs {@link #MoveHang} and tells the Hanger to run at {@link
+   * Hanger#s_hangSpeedDown}
+   * <li>This moves the Hanger down
+   */
   public void MoveHangDown() {
     MoveHang(Hanger.s_hangSpeedDown);
   }
 
+  /** This void function stops the Motor */
   public void HangStop() {
     hangerMtr.set(0);
   }
 
+  /** This is a command. It runs the void command {@link #HangStop} */
   public Command HangStopCommand() {
     return this.runOnce(this::HangStop);
   }
 
+  /** This function checks to see if the hang module is hitting the mag switch */
   public boolean HangIsDown() {
     return !hangerMagSwitch.get();
   }
 
+  /**
+   * This function sees what position the hanger is currently at in encoder counts (NOT CONVERTED)
+   */
   public double GetPosition() {
     return hangerMtrEnc.getPosition();
   }
 
+  /**
+   * Says when the Hanger is at the top posistion
+   *
+   * @return A boolean (If it is at the top position then it will return true)
+   */
   public boolean HangIsAtPosition() {
     if (GetPosition() >= 140) {
       return true;
@@ -66,8 +106,16 @@ public boolean HangIsAtPosition() {
     }
   }
 
-  /** Raises hang when Held. Will stop at top position */
+  Command AutoHangUp = runEnd(this::MoveHangUp, this::HangStop).until(this::HangIsAtPosition);
+
+  Command AutoHangDown = runEnd(this::MoveHangDown, this::HangStop).until(this::HangIsDown);
+
   @Override
+
+  /**
+   * Everytime we create a HangerModule object, the InitSendable will be dupcliated for that module.
+   * Same thing with SwerveModule objects.
+   */
   public void initSendable(SendableBuilder builder) {
     super.initSendable(builder);
 
@@ -76,4 +124,52 @@ public void initSendable(SendableBuilder builder) {
     builder.addDoubleProperty("Left/Hang Velo", hangerMtrEnc::getVelocity, null);
     builder.addBooleanProperty("Left/MagSwitch Engaged", this::HangIsDown, null);
   }
+
+  /**
+   * <b> DETAILED EXPLANATION </b>
+   *
+   * <p>In this class, we use void functions to run actions, and have commands run those void
+   * functions.
+   *
+   * <p>Void functions don't occupy the command scheduler, but commands do.
+   *
+   * <p>If we wanted to indivdually run the module motor up while a button is held:
+   *
+   * <p>We would run the Command.
+   *
+   * <p>But, If we wanted to have a sequence of actions happening (like us running it until a
+   * certain point):
+   *
+   * <p>We would run a set of void functions in a singular command, not held in this class (Would be
+   * in {@link Hanger}).
+   *
+   * <p>EX: {@link Hanger#LowerHangAuto}
+   *
+   * <p>In the Example, we run a set of void functions and boolean functions on diffrent modules in
+   * parellel.
+   *
+   * <p>This command runs the void function {@link #MoveHangDown} to run the motors down on each
+   * individual module.
+   *
+   * <p>This command also runs {@link #HangIsAtPosition}, which checks when both hangers are down
+   *
+   * <p>When both hangers, are down, it will run the {@link #HangStop} void function.
+   *
+   * <p>If we were to run commands instead of void functions within the {@link Hanger#LowerHangAuto}
+   * command, it would not work.
+   *
+   * <p>The command scheduler can only run 1 command at the same time within in a subsystem.
+   *
+   * <p>That means if there are multiple commands being called at the same time, one of the commands
+   * would not run.
+   *
+   * <p>Since we are calling the {@link Hanger#LowerHangAuto} command, all the commands within it
+   * would not be able to run if they were commands.
+   *
+   * <p>But, since there are void functions, they are not required to be called by the Command
+   * scheduler, and can run smoothly.
+   */
+  public static int Explanation() {
+    return 3;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
index 171a234..40037d5 100644
--- a/src/main/java/frc/robot/subsystems/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake.java
@@ -174,4 +174,9 @@ public void initSendable(SendableBuilder builder) {
     builder.addDoubleProperty("Motor/Velocity", intakeAngleMtrEnc::getVelocity, null);
     builder.addStringProperty("State", () -> this.GetIntakeState().toString(), null);
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 4;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/IntakeWheels.java b/src/main/java/frc/robot/subsystems/IntakeWheels.java
index fb23b14..04c0a74 100644
--- a/src/main/java/frc/robot/subsystems/IntakeWheels.java
+++ b/src/main/java/frc/robot/subsystems/IntakeWheels.java
@@ -105,4 +105,9 @@ public void initSendable(SendableBuilder builder) {
     builder.addIntegerProperty("Color Sensor/Proximity", m_colorSensorV3::getProximity, null);
     builder.addBooleanProperty("Note/Is Loaded", this::NoteIsLoaded, null);
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 5;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index bd2da4a..ba7e342 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -92,4 +92,9 @@ public void initSendable(SendableBuilder builder) {
     builder.addDoubleProperty("AprilTag/pose/Y", m_currentAprilTag.pose::getY, null);
     builder.addDoubleProperty("AprilTag/pose/Z", m_currentAprilTag.pose::getZ, null);
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 6;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index d995afe..e0a262b 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -334,4 +334,9 @@ public void initSendable(SendableBuilder builder) {
     builder.addBooleanProperty("Top Limit Switch/Tripped", this::TopLimitSwitchTripped, null);
     builder.addBooleanProperty("Bottom Limit Switch/Tripped", this::BottomLimitSwitchTripped, null);
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 7;
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/SwerveModule.java b/src/main/java/frc/robot/subsystems/SwerveModule.java
index 024e371..2807dc0 100644
--- a/src/main/java/frc/robot/subsystems/SwerveModule.java
+++ b/src/main/java/frc/robot/subsystems/SwerveModule.java
@@ -21,11 +21,6 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
-/**
- * This is the code to run a single swerve module <br>
- * <br>
- * It is called by the Drivetrain subsysem
- */
 public class SwerveModule extends SubsystemBase {
 
   private static final double kPositionConversionFactor =
@@ -223,4 +218,9 @@ public void initSendable(SendableBuilder builder) {
 
     builder.setSafeState(this::stop);
   }
+
+  /** <b> DETAILED EXPLANATION </b> */
+  public static int Explanation() {
+    return 8;
+  }
 }
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index ff15fab..6dc648d 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.2.3",
+    "version": "2024.2.8",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.3"
+            "version": "2024.2.8"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.3",
+            "version": "2024.2.8",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
index 0f3520e..f85acd4 100644
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2024.2.0",
+    "version": "2024.2.4",
     "frcYear": "2024",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
@@ -12,14 +12,14 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2024.2.0"
+            "version": "2024.2.4"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.0",
+            "version": "2024.2.4",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -37,7 +37,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2024.2.0",
+            "version": "2024.2.4",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -55,7 +55,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2024.2.0",
+            "version": "2024.2.4",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,