diff --git a/allclasses-index.html b/allclasses-index.html
index 5b7a581a..00230553 100644
--- a/allclasses-index.html
+++ b/allclasses-index.html
@@ -1138,7 +1138,9 @@ <h1 title="All&amp;nbsp;Classes" class="title">All&nbsp;Classes</h1>
 </tr>
 <tr id="i238" class="altColor">
 <td class="colFirst"><a href="xbot/common/logic/TimeStableValidator.html" title="class in xbot.common.logic">TimeStableValidator</a></td>
-<th class="colLast" scope="row">&nbsp;</th>
+<th class="colLast" scope="row">
+<div class="block">Checks that a value is stable for a given amount of time.</div>
+</th>
 </tr>
 <tr id="i239" class="rowColor">
 <td class="colFirst"><a href="xbot/common/injection/modules/UnitTestModule.html" title="class in xbot.common.injection.modules">UnitTestModule</a></td>
diff --git a/index-all.html b/index-all.html
index d55575d7..e8f4cf6e 100644
--- a/index-all.html
+++ b/index-all.html
@@ -135,8 +135,6 @@ <h2 class="title">A</h2>
 <dd>
 <div class="block">Add the magnitude to the vector represented by the coordinate.</div>
 </dd>
-<dt><span class="memberNameLink"><a href="xbot/common/logic/Latch.html#addObserver(java.util.function.Consumer)">addObserver(Consumer&lt;Latch.EdgeType&gt;)</a></span> - Method in class xbot.common.logic.<a href="xbot/common/logic/Latch.html" title="class in xbot.common.logic">Latch</a></dt>
-<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/subsystems/drive/ConfigurablePurePursuitCommand.html#addPoint(xbot.common.math.FieldPose)">addPoint(FieldPose)</a></span> - Method in class xbot.common.subsystems.drive.<a href="xbot/common/subsystems/drive/ConfigurablePurePursuitCommand.html" title="class in xbot.common.subsystems.drive">ConfigurablePurePursuitCommand</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/subsystems/drive/ConfigurablePurePursuitCommand.html#addPoint(xbot.common.subsystems.drive.RabbitPoint)">addPoint(RabbitPoint)</a></span> - Method in class xbot.common.subsystems.drive.<a href="xbot/common/subsystems/drive/ConfigurablePurePursuitCommand.html" title="class in xbot.common.subsystems.drive">ConfigurablePurePursuitCommand</a></dt>
@@ -551,7 +549,9 @@ <h2 class="title">C</h2>
 <dt><span class="memberNameLink"><a href="xbot/common/logic/WatchdogTimer.html#check()">check()</a></span> - Method in class xbot.common.logic.<a href="xbot/common/logic/WatchdogTimer.html" title="class in xbot.common.logic">WatchdogTimer</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/logic/TimeStableValidator.html#checkStable(boolean)">checkStable(boolean)</a></span> - Method in class xbot.common.logic.<a href="xbot/common/logic/TimeStableValidator.html" title="class in xbot.common.logic">TimeStableValidator</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Checks if the value has been stable for the entire stable window duration.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/logging/LoggingLatch.html#checkValue(boolean)">checkValue(boolean)</a></span> - Method in class xbot.common.logging.<a href="xbot/common/logging/LoggingLatch.html" title="class in xbot.common.logging">LoggingLatch</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/subsystems/drive/BaseDriveSubsystem.html#cheesyDrive(double,double)">cheesyDrive(double, double)</a></span> - Method in class xbot.common.subsystems.drive.<a href="xbot/common/subsystems/drive/BaseDriveSubsystem.html" title="class in xbot.common.subsystems.drive">BaseDriveSubsystem</a></dt>
@@ -4441,9 +4441,13 @@ <h2 class="title">L</h2>
  changes.</div>
 </dd>
 <dt><span class="memberNameLink"><a href="xbot/common/logic/Latch.html#%3Cinit%3E(boolean,xbot.common.logic.Latch.EdgeType)">Latch(boolean, Latch.EdgeType)</a></span> - Constructor for class xbot.common.logic.<a href="xbot/common/logic/Latch.html" title="class in xbot.common.logic">Latch</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Creates a new latch.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/logic/Latch.html#%3Cinit%3E(boolean,xbot.common.logic.Latch.EdgeType,java.util.function.Consumer)">Latch(boolean, Latch.EdgeType, Consumer&lt;Latch.EdgeType&gt;)</a></span> - Constructor for class xbot.common.logic.<a href="xbot/common/logic/Latch.html" title="class in xbot.common.logic">Latch</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Creates a new latch with a callback.</div>
+</dd>
 <dt><a href="xbot/common/logic/Latch.EdgeType.html" title="enum in xbot.common.logic"><span class="typeNameLink">Latch.EdgeType</span></a> - Enum in <a href="xbot/common/logic/package-summary.html">xbot.common.logic</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/controls/sensors/XXboxController.XboxButton.html#LeftBumper">LeftBumper</a></span> - xbot.common.controls.sensors.<a href="xbot/common/controls/sensors/XXboxController.XboxButton.html" title="enum in xbot.common.controls.sensors">XXboxController.XboxButton</a></dt>
@@ -5980,6 +5984,10 @@ <h2 class="title">S</h2>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/networking/ZeromqListener.html#setNewPacketHandler(java.util.function.Consumer)">setNewPacketHandler(Consumer&lt;String&gt;)</a></span> - Method in class xbot.common.networking.<a href="xbot/common/networking/ZeromqListener.html" title="class in xbot.common.networking">ZeromqListener</a></dt>
 <dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="xbot/common/logic/Latch.html#setObserver(java.util.function.Consumer)">setObserver(Consumer&lt;Latch.EdgeType&gt;)</a></span> - Method in class xbot.common.logic.<a href="xbot/common/logic/Latch.html" title="class in xbot.common.logic">Latch</a></dt>
+<dd>
+<div class="block">Set the callback to trigger on changes.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/controls/actuators/XDoubleSolenoid.html#setOff()">setOff()</a></span> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XDoubleSolenoid.html" title="class in xbot.common.controls.actuators">XDoubleSolenoid</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/controls/actuators/XSolenoid.html#setOn(boolean)">setOn(boolean)</a></span> - Method in class xbot.common.controls.actuators.<a href="xbot/common/controls/actuators/XSolenoid.html" title="class in xbot.common.controls.actuators">XSolenoid</a></dt>
@@ -6306,12 +6314,16 @@ <h2 class="title">S</h2>
 </dd>
 <dt><span class="memberNameLink"><a href="xbot/common/logic/TimeStableValidator.html#setStable()">setStable()</a></span> - Method in class xbot.common.logic.<a href="xbot/common/logic/TimeStableValidator.html" title="class in xbot.common.logic">TimeStableValidator</a></dt>
 <dd>
-<div class="block">Used if you want the validator to start in a stable state</div>
+<div class="block">Used if you want the validator to start in a stable state.</div>
 </dd>
 <dt><span class="memberNameLink"><a href="xbot/common/logic/TimeStableValidator.html#setStableWindow(double)">setStableWindow(double)</a></span> - Method in class xbot.common.logic.<a href="xbot/common/logic/TimeStableValidator.html" title="class in xbot.common.logic">TimeStableValidator</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Update the stable window using a constant value.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/logic/TimeStableValidator.html#setStableWindowProvider(java.util.function.Supplier)">setStableWindowProvider(Supplier&lt;Double&gt;)</a></span> - Method in class xbot.common.logic.<a href="xbot/common/logic/TimeStableValidator.html" title="class in xbot.common.logic">TimeStableValidator</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Update the stable window using a supplier.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/controls/actuators/wpi_adapters/CANVictorSPXWpiAdapter.html#setStatusFramePeriod(int,int)">setStatusFramePeriod(int, int)</a></span> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/CANVictorSPXWpiAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">CANVictorSPXWpiAdapter</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/controls/actuators/wpi_adapters/CANTalonWPIAdapter.html#setStatusFramePeriod(int,int,int)">setStatusFramePeriod(int, int, int)</a></span> - Method in class xbot.common.controls.actuators.wpi_adapters.<a href="xbot/common/controls/actuators/wpi_adapters/CANTalonWPIAdapter.html" title="class in xbot.common.controls.actuators.wpi_adapters">CANTalonWPIAdapter</a></dt>
@@ -6415,7 +6427,9 @@ <h2 class="title">S</h2>
 <dt><span class="memberNameLink"><a href="edu/wpi/first/wpilibj/MockDigitalInput.html#setValue(boolean)">setValue(boolean)</a></span> - Method in class edu.wpi.first.wpilibj.<a href="edu/wpi/first/wpilibj/MockDigitalInput.html" title="class in edu.wpi.first.wpilibj">MockDigitalInput</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/logic/Latch.html#setValue(boolean)">setValue(boolean)</a></span> - Method in class xbot.common.logic.<a href="xbot/common/logic/Latch.html" title="class in xbot.common.logic">Latch</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Set the new value of the latch, triggering the callback if the value changes.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/math/ContiguousDouble.html#setValue(double)">setValue(double)</a></span> - Method in class xbot.common.math.<a href="xbot/common/math/ContiguousDouble.html" title="class in xbot.common.math">ContiguousDouble</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/controls/actuators/mock_adapters/MockCANSparkMax.html#setVelocity(double)">setVelocity(double)</a></span> - Method in class xbot.common.controls.actuators.mock_adapters.<a href="xbot/common/controls/actuators/mock_adapters/MockCANSparkMax.html" title="class in xbot.common.controls.actuators.mock_adapters">MockCANSparkMax</a></dt>
@@ -6721,11 +6735,17 @@ <h2 class="title">T</h2>
 <dt><span class="memberNameLink"><a href="xbot/common/command/BaseMaintainerCommand.html#timeStableValidator">timeStableValidator</a></span> - Variable in class xbot.common.command.<a href="xbot/common/command/BaseMaintainerCommand.html" title="class in xbot.common.command">BaseMaintainerCommand</a></dt>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/logic/TimeStableValidator.html" title="class in xbot.common.logic"><span class="typeNameLink">TimeStableValidator</span></a> - Class in <a href="xbot/common/logic/package-summary.html">xbot.common.logic</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Checks that a value is stable for a given amount of time.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/logic/TimeStableValidator.html#%3Cinit%3E(double)">TimeStableValidator(double)</a></span> - Constructor for class xbot.common.logic.<a href="xbot/common/logic/TimeStableValidator.html" title="class in xbot.common.logic">TimeStableValidator</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Creates a new TimeStableValidator using a constant value.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/logic/TimeStableValidator.html#%3Cinit%3E(java.util.function.Supplier)">TimeStableValidator(Supplier&lt;Double&gt;)</a></span> - Constructor for class xbot.common.logic.<a href="xbot/common/logic/TimeStableValidator.html" title="class in xbot.common.logic">TimeStableValidator</a></dt>
-<dd>&nbsp;</dd>
+<dd>
+<div class="block">Creates a new TimeStableValidator using a window from a supplier.</div>
+</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/controls/sensors/buttons/SettableBooleanSuppler.html#toggle()">toggle()</a></span> - Method in class xbot.common.controls.sensors.buttons.<a href="xbot/common/controls/sensors/buttons/SettableBooleanSuppler.html" title="class in xbot.common.controls.sensors.buttons">SettableBooleanSuppler</a></dt>
 <dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="xbot/common/controls/sensors/buttons/VirtualTrigger.html#toggle()">toggle()</a></span> - Method in class xbot.common.controls.sensors.buttons.<a href="xbot/common/controls/sensors/buttons/VirtualTrigger.html" title="class in xbot.common.controls.sensors.buttons">VirtualTrigger</a></dt>
diff --git a/member-search-index.js b/member-search-index.js
index 4ac36d3e..94864562 100644
--- a/member-search-index.js
+++ b/member-search-index.js
@@ -1 +1 @@
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diff --git a/xbot/common/logic/Latch.html b/xbot/common/logic/Latch.html
index 77149e4b..72f2c331 100644
--- a/xbot/common/logic/Latch.html
+++ b/xbot/common/logic/Latch.html
@@ -180,13 +180,17 @@ <h3>Constructor Summary</h3>
 <tr class="altColor">
 <th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(boolean,xbot.common.logic.Latch.EdgeType)">Latch</a></span>&#8203;(boolean&nbsp;initialValue,
      <a href="Latch.EdgeType.html" title="enum in xbot.common.logic">Latch.EdgeType</a>&nbsp;latchType)</code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Creates a new latch.</div>
+</td>
 </tr>
 <tr class="rowColor">
 <th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(boolean,xbot.common.logic.Latch.EdgeType,java.util.function.Consumer)">Latch</a></span>&#8203;(boolean&nbsp;initialValue,
      <a href="Latch.EdgeType.html" title="enum in xbot.common.logic">Latch.EdgeType</a>&nbsp;latchType,
      java.util.function.Consumer&lt;<a href="Latch.EdgeType.html" title="enum in xbot.common.logic">Latch.EdgeType</a>&gt;&nbsp;callback)</code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Creates a new latch with a callback.</div>
+</td>
 </tr>
 </table>
 </li>
@@ -208,13 +212,17 @@ <h3>Method Summary</h3>
 </tr>
 <tr id="i0" class="altColor">
 <td class="colFirst"><code>void</code></td>
-<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#addObserver(java.util.function.Consumer)">addObserver</a></span>&#8203;(java.util.function.Consumer&lt;<a href="Latch.EdgeType.html" title="enum in xbot.common.logic">Latch.EdgeType</a>&gt;&nbsp;callback)</code></th>
-<td class="colLast">&nbsp;</td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setObserver(java.util.function.Consumer)">setObserver</a></span>&#8203;(java.util.function.Consumer&lt;<a href="Latch.EdgeType.html" title="enum in xbot.common.logic">Latch.EdgeType</a>&gt;&nbsp;callback)</code></th>
+<td class="colLast">
+<div class="block">Set the callback to trigger on changes.</div>
+</td>
 </tr>
 <tr id="i1" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setValue(boolean)">setValue</a></span>&#8203;(boolean&nbsp;newValue)</code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Set the new value of the latch, triggering the callback if the value changes.</div>
+</td>
 </tr>
 </table>
 <ul class="blockList">
@@ -248,6 +256,12 @@ <h3>Constructor Detail</h3>
 <h4>Latch</h4>
 <pre>public&nbsp;Latch&#8203;(boolean&nbsp;initialValue,
              <a href="Latch.EdgeType.html" title="enum in xbot.common.logic">Latch.EdgeType</a>&nbsp;latchType)</pre>
+<div class="block">Creates a new latch.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>initialValue</code> - The initial value.</dd>
+<dd><code>latchType</code> - The latch type.</dd>
+</dl>
 </li>
 </ul>
 <a id="&lt;init&gt;(boolean,xbot.common.logic.Latch.EdgeType,java.util.function.Consumer)">
@@ -259,6 +273,13 @@ <h4>Latch</h4>
 <pre>public&nbsp;Latch&#8203;(boolean&nbsp;initialValue,
              <a href="Latch.EdgeType.html" title="enum in xbot.common.logic">Latch.EdgeType</a>&nbsp;latchType,
              java.util.function.Consumer&lt;<a href="Latch.EdgeType.html" title="enum in xbot.common.logic">Latch.EdgeType</a>&gt;&nbsp;callback)</pre>
+<div class="block">Creates a new latch with a callback.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>initialValue</code> - The initial value.</dd>
+<dd><code>latchType</code> - The latch type.</dd>
+<dd><code>callback</code> - The callback to trigger on changes.</dd>
+</dl>
 </li>
 </ul>
 </li>
@@ -271,13 +292,18 @@ <h4>Latch</h4>
 <!--   -->
 </a>
 <h3>Method Detail</h3>
-<a id="addObserver(java.util.function.Consumer)">
+<a id="setObserver(java.util.function.Consumer)">
 <!--   -->
 </a>
 <ul class="blockList">
 <li class="blockList">
-<h4>addObserver</h4>
-<pre class="methodSignature">public&nbsp;void&nbsp;addObserver&#8203;(java.util.function.Consumer&lt;<a href="Latch.EdgeType.html" title="enum in xbot.common.logic">Latch.EdgeType</a>&gt;&nbsp;callback)</pre>
+<h4>setObserver</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;setObserver&#8203;(java.util.function.Consumer&lt;<a href="Latch.EdgeType.html" title="enum in xbot.common.logic">Latch.EdgeType</a>&gt;&nbsp;callback)</pre>
+<div class="block">Set the callback to trigger on changes.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>callback</code> - The callback to trigger on changes.</dd>
+</dl>
 </li>
 </ul>
 <a id="setValue(boolean)">
@@ -287,6 +313,11 @@ <h4>addObserver</h4>
 <li class="blockList">
 <h4>setValue</h4>
 <pre class="methodSignature">public&nbsp;void&nbsp;setValue&#8203;(boolean&nbsp;newValue)</pre>
+<div class="block">Set the new value of the latch, triggering the callback if the value changes.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>newValue</code> - The new value to latch.</dd>
+</dl>
 </li>
 </ul>
 </li>
diff --git a/xbot/common/logic/TimeStableValidator.html b/xbot/common/logic/TimeStableValidator.html
index 6a0341d8..a02110eb 100644
--- a/xbot/common/logic/TimeStableValidator.html
+++ b/xbot/common/logic/TimeStableValidator.html
@@ -133,6 +133,7 @@ <h2 title="Class TimeStableValidator" class="title">Class TimeStableValidator</h
 <hr>
 <pre>public class <span class="typeNameLabel">TimeStableValidator</span>
 extends java.lang.Object</pre>
+<div class="block">Checks that a value is stable for a given amount of time.</div>
 </li>
 </ul>
 </div>
@@ -154,11 +155,15 @@ <h3>Constructor Summary</h3>
 </tr>
 <tr class="altColor">
 <th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double)">TimeStableValidator</a></span>&#8203;(double&nbsp;stableWindow)</code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Creates a new TimeStableValidator using a constant value.</div>
+</td>
 </tr>
 <tr class="rowColor">
 <th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(java.util.function.Supplier)">TimeStableValidator</a></span>&#8203;(java.util.function.Supplier&lt;java.lang.Double&gt;&nbsp;stableWindowProvider)</code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Creates a new TimeStableValidator using a window from a supplier.</div>
+</td>
 </tr>
 </table>
 </li>
@@ -181,24 +186,30 @@ <h3>Method Summary</h3>
 <tr id="i0" class="altColor">
 <td class="colFirst"><code>boolean</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#checkStable(boolean)">checkStable</a></span>&#8203;(boolean&nbsp;value)</code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Checks if the value has been stable for the entire stable window duration.</div>
+</td>
 </tr>
 <tr id="i1" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setStable()">setStable</a></span>()</code></th>
 <td class="colLast">
-<div class="block">Used if you want the validator to start in a stable state</div>
+<div class="block">Used if you want the validator to start in a stable state.</div>
 </td>
 </tr>
 <tr id="i2" class="altColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setStableWindow(double)">setStableWindow</a></span>&#8203;(double&nbsp;stableWindow)</code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Update the stable window using a constant value.</div>
+</td>
 </tr>
 <tr id="i3" class="rowColor">
 <td class="colFirst"><code>void</code></td>
 <th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setStableWindowProvider(java.util.function.Supplier)">setStableWindowProvider</a></span>&#8203;(java.util.function.Supplier&lt;java.lang.Double&gt;&nbsp;stableWindowProvider)</code></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Update the stable window using a supplier.</div>
+</td>
 </tr>
 </table>
 <ul class="blockList">
@@ -231,6 +242,11 @@ <h3>Constructor Detail</h3>
 <li class="blockList">
 <h4>TimeStableValidator</h4>
 <pre>public&nbsp;TimeStableValidator&#8203;(double&nbsp;stableWindow)</pre>
+<div class="block">Creates a new TimeStableValidator using a constant value.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>stableWindow</code> - The time window, in seconds.</dd>
+</dl>
 </li>
 </ul>
 <a id="&lt;init&gt;(java.util.function.Supplier)">
@@ -240,6 +256,11 @@ <h4>TimeStableValidator</h4>
 <li class="blockList">
 <h4>TimeStableValidator</h4>
 <pre>public&nbsp;TimeStableValidator&#8203;(java.util.function.Supplier&lt;java.lang.Double&gt;&nbsp;stableWindowProvider)</pre>
+<div class="block">Creates a new TimeStableValidator using a window from a supplier.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>stableWindowProvider</code> - A supplier that provides a time window, in seconds.</dd>
+</dl>
 </li>
 </ul>
 </li>
@@ -259,6 +280,11 @@ <h3>Method Detail</h3>
 <li class="blockList">
 <h4>setStableWindowProvider</h4>
 <pre class="methodSignature">public&nbsp;void&nbsp;setStableWindowProvider&#8203;(java.util.function.Supplier&lt;java.lang.Double&gt;&nbsp;stableWindowProvider)</pre>
+<div class="block">Update the stable window using a supplier.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>stableWindowProvider</code> - A supplier that provides a time window, in seconds.</dd>
+</dl>
 </li>
 </ul>
 <a id="setStableWindow(double)">
@@ -268,6 +294,11 @@ <h4>setStableWindowProvider</h4>
 <li class="blockList">
 <h4>setStableWindow</h4>
 <pre class="methodSignature">public&nbsp;void&nbsp;setStableWindow&#8203;(double&nbsp;stableWindow)</pre>
+<div class="block">Update the stable window using a constant value.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>stableWindow</code> - The time window, in seconds.</dd>
+</dl>
 </li>
 </ul>
 <a id="checkStable(boolean)">
@@ -277,6 +308,13 @@ <h4>setStableWindow</h4>
 <li class="blockList">
 <h4>checkStable</h4>
 <pre class="methodSignature">public&nbsp;boolean&nbsp;checkStable&#8203;(boolean&nbsp;value)</pre>
+<div class="block">Checks if the value has been stable for the entire stable window duration.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>value</code> - The value to test.</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>True if the value has been stable for the entire window duration.</dd>
+</dl>
 </li>
 </ul>
 <a id="setStable()">
@@ -286,7 +324,7 @@ <h4>checkStable</h4>
 <li class="blockList">
 <h4>setStable</h4>
 <pre class="methodSignature">public&nbsp;void&nbsp;setStable()</pre>
-<div class="block">Used if you want the validator to start in a stable state</div>
+<div class="block">Used if you want the validator to start in a stable state.</div>
 </li>
 </ul>
 </li>
diff --git a/xbot/common/logic/package-summary.html b/xbot/common/logic/package-summary.html
index 2297c6c3..915297fc 100644
--- a/xbot/common/logic/package-summary.html
+++ b/xbot/common/logic/package-summary.html
@@ -138,7 +138,9 @@ <h1 title="Package" class="title">Package&nbsp;xbot.common.logic</h1>
 </tr>
 <tr class="rowColor">
 <th class="colFirst" scope="row"><a href="TimeStableValidator.html" title="class in xbot.common.logic">TimeStableValidator</a></th>
-<td class="colLast">&nbsp;</td>
+<td class="colLast">
+<div class="block">Checks that a value is stable for a given amount of time.</div>
+</td>
 </tr>
 <tr class="altColor">
 <th class="colFirst" scope="row"><a href="VelocityThrottleModule.html" title="class in xbot.common.logic">VelocityThrottleModule</a></th>