diff --git a/lib/shared_data/include/SharedDataTypes.h b/lib/shared_data/include/SharedDataTypes.h
index 2e399a6df..9e0817afb 100644
--- a/lib/shared_data/include/SharedDataTypes.h
+++ b/lib/shared_data/include/SharedDataTypes.h
@@ -5,6 +5,7 @@
 #include "SysClock.h"
 #include "SharedFirmwareTypes.h"
 
+/// @brief defines modes of torque limit to be processed in torque limit map for exact values
 enum class TorqueLimit_e
 {
     TCMUX_FULL_TORQUE = 0,
@@ -49,12 +50,15 @@ struct DrivetrainDynamicReport_s
     float measuredTorqueCurrents[NUM_MOTORS];
     float measuredMagnetizingCurrents[NUM_MOTORS];
 };
+/// @brief stores two arrays of size equal to the amount of motors: speed setpoints and necessary torque to reach those setpoints 
 struct DrivetrainCommand_s
 {
     float speeds_rpm[NUM_MOTORS];
     float torqueSetpoints[NUM_MOTORS]; // FIXME: misnomer. This represents the magnitude of the torque the inverter can command to reach the commanded speed setpoint
 };
 
+/// @brief Packages drivebrain command with ready boolean
+///@note returned by all car controllers evaluate method 
 struct TorqueControllerOutput_s
 {
     DrivetrainCommand_s command;
@@ -80,6 +84,7 @@ struct VectornavData_s
     xyz_vec<float> angular_rates;
 };
 
+/// @brief Defins errors for TC Mux to use to maintain system safety
 enum class TorqueControllerMuxError
 {
     NO_ERROR = 0,
@@ -89,6 +94,7 @@ enum class TorqueControllerMuxError
     ERROR_CONTROLLER_NULL_POINTER =4
 };
 
+/// @brief packages TC Mux indicators: errors, mode, torque limit, bypass
 struct TorqueControllerMuxStatus
 {
     TorqueControllerMuxError current_error;
diff --git a/lib/systems/include/CASESystem.h b/lib/systems/include/CASESystem.h
index 5e5c962f2..a28f07198 100644
--- a/lib/systems/include/CASESystem.h
+++ b/lib/systems/include/CASESystem.h
@@ -148,10 +148,17 @@ class CASESystem
 
     DrivetrainCommand_s get_current_drive_command() { return current_command_; }
 
+    /// @brief uses pedal data to determine the requested torque by the car
+    /// @param PedalsSystemData_s &pedals_data 
+    /// @param float max_torque 
+    /// @param float max_regen_torque
+    /// @param float max_rpm 
+    /// @return float representing the calculated request
     float calculate_torque_request(const PedalsSystemData_s &pedals_data, float max_torque, float max_regen_torque, float max_rpm);
-    /// @brief configuration function to determine what CASE is using / turn on and off different features within CASE
-    /// @param config the configuration struct we will be setting
 
+    /// @brief retrieves rpm setpoint based on final torque value
+    /// @param float final_torque 
+    /// @return The maximum RPM from the configuration if torque is positive, otherwise 0.
     float get_rpm_setpoint(float final_torque)
     {
         if (final_torque > 0)
diff --git a/lib/systems/include/Controllers/CASEControllerWrapper.h b/lib/systems/include/Controllers/CASEControllerWrapper.h
index 8e0dbd7e8..7edc280e6 100644
--- a/lib/systems/include/Controllers/CASEControllerWrapper.h
+++ b/lib/systems/include/Controllers/CASEControllerWrapper.h
@@ -9,10 +9,14 @@ class TorqueControllerCASEWrapper : public virtual Controller
 {
 public:
     TorqueControllerCASEWrapper() = delete;
-    
+    /// @brief makes CASE system apart of Controller hierarchy for use in TC Mux
+    /// @param case_instance 
     TorqueControllerCASEWrapper(CASESystem<message_queue> *case_instance) : case_instance_(case_instance)
     {
     }
+    /// @brief packages CASE system command into Torque Controller Output
+    /// @param SharedCarState_s &state
+    /// @return TorqueControllerOutput_s
     TorqueControllerOutput_s evaluate(const SharedCarState_s &state) override
     {
         DrivetrainCommand_s curr_cmd = case_instance_->get_current_drive_command();