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src/main/java/frc/robot/subsystems/SystemState.java

@@ -1,11 +1,25 @@
 package frc.robot.subsystems;
 
 public interface SystemState {
+  /**
+   * Initial action of state. Called once when state is initially scheduled
+   */
   public default void initialize() {}
 
+  /**
+   * Main body of state. Called repeatedly when state is scheduled.
+   */
   public default void execute() {}
 
+  /**
+   * The action to take when the state ends. Called when either the state finishes normally, or when it interrupted/canceled.
+   * @param interrupted Whether the state was interrupted or cancelled
+   */
   public default void end(boolean interrupted) {}
 
+  /**
+   * Get next state based on variety of inputs. Also used to know if current state is complete.
+   * @return Next state
+   */
   public SystemState nextState();
 }