diff --git a/lib/systems/include/TorqueControllerMux.h b/lib/systems/include/TorqueControllerMux.h
index 1db0cfb80..b8d0b7bfc 100644
--- a/lib/systems/include/TorqueControllerMux.h
+++ b/lib/systems/include/TorqueControllerMux.h
@@ -76,9 +76,24 @@ class TorqueControllerMux
                                                     DrivetrainCommand_s previous_controller_command,
                                                     DrivetrainCommand_s desired_controller_out);
 
+    /// @brief Clamps negative rpms to 0f
+    /// @param const DrivetrainCommand_s &command provides the rpm info as a DrivetrainCommand_s
     DrivetrainCommand_s apply_positive_speed_limit_(const DrivetrainCommand_s &command);
+
+    /// @brief Ensure torque is at most at the specified limit. If exceeding, then limit it in the returned DrivetrainCommand_s
+    /// @param const DrivetrainCommand_s &command is a DrivetrainCommand_s, which provides torque info
+    /// @param float max_torque is the maximum average torque the wheels are allowed to experience before it is limited.
     DrivetrainCommand_s apply_torque_limit_(const DrivetrainCommand_s &command, float max_torque);
+    
+    /// @brief Apply power limit such that the mechanical power of all wheels never exceeds the preset mechanical power limit. Scales all wheels down to preserve functionality of torque controllers
+    /// @param const DrivetrainCommand_s &command provides torque info, which is used to calculate mechanical power
+    /// @param const DrivetrainDynamicReport_s &drivetrain provides RPMS, which are used to calculate radians / s
+    /// @param float max_torque is used to indirectly specifiy the max power
     DrivetrainCommand_s apply_power_limit_(const DrivetrainCommand_s &command, const DrivetrainDynamicReport_s &drivetrain, float power_limit, float max_torque);
+
+    /// @brief begin limiting regen at noRegenLimitKPH (hardcoded in func) and completely limit regen at fullRegenLimitKPH (hardcoded in func)
+    /// @param const DrivetrainCommand_s &command 
+    /// @param const DrivetrainDynamicReport_s &drivetrain_data provides RPMs
     DrivetrainCommand_s apply_regen_limit_(const DrivetrainCommand_s &command, const DrivetrainDynamicReport_s &drivetrain_data);
     
 public:
@@ -123,4 +138,4 @@ const int number_of_controllers = 5;
 using TCMuxType = TorqueControllerMux<number_of_controllers>;
 
 #include "TorqueControllerMux.tpp"
-#endif // __TorqueControllerMux_H__
\ No newline at end of file
+#endif // __TorqueControllerMux_H__