Included javadocs with some broken links.

Javadocs are created on my PC, which cannot tie into the FTC API
to render the appropriate links. But this is enough to generate
docs to explain how to work with the code.

src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/Chute.java

@@ -1,7 +1,45 @@
 package org.firstinspires.ftc.teamcode.subsystems.chute;
 
 /**
- * Simple chute subsystem.
+ * Main entry point for chute control system.
+ * 
+ * <p>Provides high-level interface for controlling a linear actuator (chute) using
+ * a motor and potentiometer. Automatically handles homing, position tracking across
+ * potentiometer wraparound, and movement to target positions.
+ * 
+ * <h2>Basic Usage (Testing)</h2>
+ * <pre>
+ * Chute chute = new Chute(4 * Math.PI);  // 4 radians max extension
+ * 
+ * // In your loop
+ * chute.update(0.02);  // 50Hz update
+ * chute.setTargetPosition(2.0);  // Move to 2 radians
+ * 
+ * if (chute.isAtTarget()) {
+ *     // Ready!
+ * }
+ * </pre>
+ * 
+ * <h2>Usage with Real Hardware</h2>
+ * <pre>
+ * FtcMotor motor = new FtcMotor(hardwareMap.get(DcMotor.class, "chute_motor"));
+ * FtcPotentiometer pot = new FtcPotentiometer(hardwareMap.get(AnalogInput.class, "chute_pot"));
+ * ChuteController controller = new ChuteController(motor, pot, 4 * Math.PI);
+ * Chute chute = new Chute(controller, motor, pot);
+ * </pre>
+ * 
+ * <h2>Features</h2>
+ * <ul>
+ *   <li>Automatic homing - captures reference voltage at mechanical home position</li>
+ *   <li>Position unwrapping - tracks absolute position across pot wraparound</li>
+ *   <li>Configurable wraparound - supports different pot ranges (default 2pi)</li>
+ *   <li>Auto-homing - automatically homes before first movement if needed</li>
+ *   <li>Safety limits - enforces maximum extension</li>
+ * </ul>
+ * 
+ * @see ChuteController
+ * @see MockPotentiometer
+ * @see FtcPotentiometer
  */
 public class Chute {
     private final ChuteController controller;
@@ -9,17 +47,21 @@ public class Chute {
     private final MockPotentiometer pot;
     
     /**
-     * Create chute with mock hardware (for testing) - default 2pi wraparound.
-     * @param maxExtension Maximum extension in radians
+     * Creates chute with mock hardware for testing.
+     * Uses default 2pi (full rotation) potentiometer wraparound.
+     * 
+     * @param maxExtension Maximum extension from home position in radians
      */
     public Chute(double maxExtension) {
         this(maxExtension, 2 * Math.PI);
     }
     
     /**
-     * Create chute with mock hardware (for testing) - custom wraparound.
-     * @param maxExtension Maximum extension in radians
-     * @param wrapAmount Potentiometer wrap amount in radians
+     * Creates chute with mock hardware and custom pot wraparound.
+     * Use this constructor when testing with non-standard potentiometer ranges.
+     * 
+     * @param maxExtension Maximum extension from home position in radians
+     * @param wrapAmount Potentiometer wraparound amount in radians (e.g., pi, 2pi, 4pi)
      */
     public Chute(double maxExtension, double wrapAmount) {
         this.motor = new MockMotor();
@@ -28,8 +70,14 @@ public class Chute {
     }
     
     /**
-     * Create chute with real hardware (for robot).
-     * Use FtcMotor and FtcPotentiometer adapters.
+     * Creates chute with real FTC hardware adapters.
+     * Use this constructor in actual FTC OpModes with hardware from hardwareMap.
+     * 
+     * @param controller Pre-configured controller with real hardware
+     * @param motor FtcMotor adapter wrapping DcMotor
+     * @param pot FtcPotentiometer adapter wrapping AnalogInput
+     * @see FtcMotor
+     * @see FtcPotentiometer
      */
     public Chute(ChuteController controller, MockMotor motor, MockPotentiometer pot) {
         this.controller = controller;
@@ -37,39 +85,89 @@ public class Chute {
         this.pot = pot;
     }
     
+    /**
+     * Updates chute state - must be called every loop iteration.
+     * Handles motor movement, pot reading, homing, and position control.
+     * 
+     * @param dt Time since last update in seconds (typically 0.02 for 50Hz)
+     */
     public void update(double dt) {
         controller.update(dt);
     }
     
+    /**
+     * Starts homing sequence.
+     * Drives chute down until pot stops changing, then captures home voltage.
+     * Typically not needed as setTargetPosition() auto-homes if required.
+     */
     public void home() {
         controller.home();
     }
     
+    /**
+     * Commands chute to move to target position.
+     * Automatically initiates homing if not already homed.
+     * 
+     * @param position Target position in radians from home (clamped to [0, maxExtension])
+     */
     public void setTargetPosition(double position) {
         controller.moveToPosition(position);
     }
     
+    /**
+     * Emergency stop - immediately halts motor and cancels any movement.
+     */
     public void stop() {
         controller.stop();
     }
     
+    /**
+     * Gets current position of chute.
+     * 
+     * @return Current position in radians from home (0.0 at home position)
+     */
     public double getPosition() {
         return controller.getPosition();
     }
     
+    /**
+     * Checks if chute has completed homing sequence.
+     * 
+     * @return true if homed and ready for position commands
+     */
     public boolean isHomed() {
         return controller.isHomed();
     }
     
+    /**
+     * Checks if chute is currently moving to target.
+     * 
+     * @return true if actively moving
+     */
     public boolean isMoving() {
         return controller.isMoving();
     }
     
+    /**
+     * Checks if chute is homed and stationary at target position.
+     * 
+     * @return true if homed and not moving (ready for next command)
+     */
     public boolean isAtTarget() {
         return isHomed() && !isMoving();
     }
     
-    // For testing
+    /**
+     * Gets motor instance for testing.
+     * 
+     * @return MockMotor instance used by this chute
+     */
     public MockMotor getMotor() { return motor; }
+    
+    /**
+     * Gets potentiometer instance for testing.
+     * 
+     * @return MockPotentiometer instance used by this chute
+     */
     public MockPotentiometer getPot() { return pot; }
 }