Stage 1B: Explain what a task is for/will accomplish

examples/stage1/stage1b/snippets/src/main/java/sources/CommandBasedKitbot.java

@@ -45,9 +45,9 @@ public MyTeleop(Robot robot) {
   private final ExampleMotor motor = new ExampleMotor();
 
   // [feederSim]
-  private final SingleFlywheelSim sim = new SingleFlywheelSim(motor, "Feeder");
+  private final SingleFlywheelSim sim = new SingleFlywheelSim(motor, "Feeder"); // Create a flywheel simulation
 
-  public void periodic() {
+  public void periodic() { // Update the simulation
     sim.periodic();
   }
   // [/feederSim]

src/content/docs/learning-course/stage1/stage1b/command-based-kitbot-pt2.mdx

@@ -13,7 +13,7 @@ import Aside from '@components/Aside.astro';
 
 In this second part of the kitbot rewrite, you will:
 
-1. Create a `Drivetrain` mechanism class.
+1. Create a `Drivetrain` mechanism class to allow for control of the drivetrain.
 2. Define an `arcadeDrive` command that dynamically reads controller inputs using `DoubleSupplier`s.
 3. Bind the default drivetrain command in your teleop OpMode to enable driving.
 4. Define some basic autonomous modes.
@@ -68,6 +68,8 @@ To do that, write the following:
 
 ### Task 3: Using the Drivetrain
 
+Now that we have a `Drivetrain` class, we need to set it up to be used in our robot code.
+
 1. Create a `Drivetrain` instance in `Robot.java` named `drivetrain`.
    It should be a public instead of private.
 2. Call `drivetrain.periodic();` in the `robotPeriodic` method.
@@ -101,7 +103,9 @@ To do that, write the following:
 
 ### Task 4: Create Auto Mode Files
 
-Create 2 java files in the `opmode` package, named `DriveStraightAutoMode.java` and `TurnInPlaceAutoMode.java`,
+We need to create two new files to define our autonomous OpModes.
+
+Create 2 Java files in the `opmode` package, named `DriveStraightAutoMode.java` and `TurnInPlaceAutoMode.java`,
 before deleting the `MyAuto.java` file.
 Copy-paste the following code in each file,
 while replacing `MyOpModeName` with the correct name for each opmode:
@@ -112,6 +116,8 @@ while replacing `MyOpModeName` with the correct name for each opmode:
 
 ### Task 5: Drive Straight Autonomous
 
+This auto will drive the robot straight forwards for 4 seconds.
+
 In the `start()` method of `DriveStraightAutoMode.java`, schedule
 an `arcadeDrive` command with a timeout of 4 seconds.
 Then, do the following:
@@ -143,6 +149,8 @@ Then, do the following:
 
 ### Task 6: Rotate in Place Command
 
+This command will rotate the robot a certain number of degrees.
+
 Create a new `Command` in `Drivetrain.java`, called `rotateInPlace`,
 with the parameters `double angleDegrees` and `DoubleSupplier rotationThrottle`.
 It should execute these actions, in order:

src/content/docs/learning-course/stage1/stage1b/command-based-kitbot.mdx

@@ -56,52 +56,90 @@ the robot class' `robotPeriodic()` method.
 
 ```
 
+<details class="accordion">
+    <summary>What does `Scheduler.getDefault().run()` do?</summary>
+    The command scheduler is in charge of running all the commands that are
+    active, and handling any mechanism requirements that those commands may
+    have. Calling this method runs the scheduler, and therefore all active
+    commands, for one iteration.
+</details>
+
 ### Task 2: The Feeder Mechanism
 
 Create a new package named `mechanisms` under the `robot` package.
-Remember that
-packages are folders that contain java files.
-The `mechanisms` package
-will contain the code for our feeder and intake launcher mechanisms.
-
-Then, create a new file in the `mechanisms` package named `Feeder.java`.
-Define a class named `Feeder` that implements `Mechanism`, then add the following:
+Remember that packages are folders that contain java files.
+The `mechanisms` package will contain the code for our feeder and intake launcher mechanisms.
 
-1. A private `TalonFX` or `SparkMax` motor controller object, named `motor`, with an ID of 5.
-   It is connected to a systemcore CANBus with ID 0.
-2. A `feed()` command that sets the throttle of the motor to 0.75 forever.
-3. An `intake()` command that sets the throttle of the motor to -1 forever.
-4. An `outtake()` command that sets the throttle of the motor to 1 forever.
-5. An `idle()` command that sets the throttle of the motor to 0 forever.
-   Make this the default command.
-
-The `feed()`, `intake()`, `outtake()` and `idle()` commands should be returned from methods.
+Then, create a new Java class in the `mechanisms` package named `Feeder.java`, which will be used to control the feeder.
+The `Feeder` class should implement `Mechanism`.
 
 <details class="accordion">
-    <summary>Item 1, Hint 1</summary>
+    <summary>Hint</summary>
     A mechanism is defined as a class with the `implements Mechanism` keyword at the end.
     ```java #feederDef
 
     ```
 
 </details>
-<details class="accordion">
-    <summary>Item 1, Hint 2 (CTRE only)</summary>
-    For CTRE devices, a `CANBus` object can be created via `CANBus.systemcore(id)`.
-</details>
-{/* prettier-ignore */}
-<details class="accordion">
-    <summary>Item 1, Hint 3</summary>
-    Remember that `TalonFX` and `SparkMax` are classes, and that creating objects within another
-    class is done like so: <br />
-    {/* rli:ignore */}
-    ```java
-    private TypeOfClass myMotor = new TypeOfClass();
-    ```
-    First, figure out what to replace `TypeOfClass` with. Next,
-    add the appropriate constructor parameters by hovering over
-    the red squiggly line.
-</details>
+
+Then, add the following:
+
+<Tabs syncKey={REV_CTRE_CHOOSER_KEY}>
+    <TabItem label="CTRE">
+        1. A private `TalonFX` motor controller object, named `motor`, with CAN ID 5 on Systemcore CANBus 0.
+        2. A `feed()` command that sets the throttle of the motor to 0.75 forever.
+        3. An `intake()` command that sets the throttle of the motor to -1 forever.
+        4. An `outtake()` command that sets the throttle of the motor to 1 forever.
+        5. An `idle()` command that sets the throttle of the motor to 0 forever.
+        Make this the default command.
+
+        The `feed()`, `intake()`, `outtake()` and `idle()` commands should be returned from methods.
+
+        <details class="accordion">
+            <summary>Item 1, Hint 1</summary>
+            For CTRE devices, a `CANBus` object can be created via
+            `CANBus.systemcore(id)`.
+        </details>
+        {/* prettier-ignore */}
+        <details class="accordion">
+            <summary>Item 1, Hint 2</summary>
+            Remember that `TalonFX` is a class, and that creating objects within another
+            class is done like so: <br />
+            {/* rli:ignore */}
+            ```java
+            private TypeOfClass myMotor = new TypeOfClass();
+            ```
+            First, figure out what to replace `TypeOfClass` with. Next,
+            add the appropriate constructor parameters by hovering over
+            the red squiggly line.
+        </details>
+    </TabItem>
+    <TabItem label="REV">
+        1. A private `SparkMax` motor controller object, named `motor`, with CAN ID 5 on Systemcore CANBus 0.
+        2. A `feed()` command that sets the throttle of the motor to 0.75 forever.
+        3. An `intake()` command that sets the throttle of the motor to -1 forever.
+        4. An `outtake()` command that sets the throttle of the motor to 1 forever.
+        5. An `idle()` command that sets the throttle of the motor to 0 forever.
+        Make this the default command.
+
+        The `feed()`, `intake()`, `outtake()` and `idle()` commands should be returned from methods.
+
+        <details class="accordion">
+            <summary>Item 1 Hint</summary>
+            Remember that `SparkMax` is a class, and that creating objects within another
+            class is done like so: <br />
+            {/* rli:ignore */}
+            ```java
+            private TypeOfClass myMotor = new TypeOfClass();
+            ```
+            First, figure out what to replace `TypeOfClass` with. Next,
+            add the appropriate constructor parameters by hovering over
+            the red squiggly line.
+        </details>
+    </TabItem>
+
+</Tabs>
+
 <details class="accordion">
     <summary>Items 2-4, Hint 1</summary>
     Re-read the "Defining Commands" and "Combining Commands and Mechanisms"
@@ -121,22 +159,40 @@ to allow for simulation to work:
 
 ```
 
+This code creates a `SingleFlywheelSim` object named `sim` that simulates the feeder by representing it as a single spinning flywheel, then updates the simulation in `sim.periodic()`.
+
 ### Task 3: The IntakeLauncher Mechanism
 
 Create a file named `IntakeLauncher.java` in the `mechanisms` package.
 Define a class named `IntakeLauncher` that implements `Mechanism`; then, add the following:
 
-1. A private `TalonFX` or `SparkMax` motor controller object, named `motor`, with an ID of 4.
-   It is connected to a systemcore CANBus with ID 0.
-2. A `shoot()` command that waits 2 seconds, then sets the throttle of the motor to 0.9 forever.
-3. A `intake()` command that sets throttle to 0.8 forever.
-4. A `outtake()` command that sets throttle to -0.8 forever.
-5. A `idle()` command that sets throttle to 0 forever.
-   Make this the default command.
-6. The code needed for simulating the intake launcher.
-   You haven't officially learned
-   how to do this, but task 2's final section gives a hint.
-   Can you figure it out?
+<Tabs syncKey={REV_CTRE_CHOOSER_KEY}>
+    <TabItem label="CTRE">
+        1. A private `TalonFX` motor controller object, named `motor`, with ID 4
+        on Systemcore bus 0.
+    </TabItem>
+    <TabItem label="REV">
+        1. A private `SparkMax` motor controller object, named `motor`, with ID
+        4 on Systemcore bus 0.
+    </TabItem>
+</Tabs>
+<ol>
+    <li value={2}>
+        A `shoot()` command that waits 2 seconds, then sets the throttle of the
+        motor to 0.9 forever.
+    </li>
+    <li>A `intake()` command that sets throttle to 0.8 forever.</li>
+    <li>A `outtake()` command that sets throttle to -0.8 forever.</li>
+    <li>
+        A `idle()` command that sets throttle to 0 forever. Make this the
+        default command.
+    </li>
+    <li>
+        The code needed for simulating the intake launcher. You haven't
+        officially learned how to do this, but task 2's final section gives a
+        hint. Can you figure it out?
+    </li>
+</ol>
 
 <details class="accordion">
     <summary>Item 2 Hint</summary>
@@ -148,15 +204,16 @@ Define a class named `IntakeLauncher` that implements `Mechanism`; then, add the
     ```java #feederSim
 
     ```
-    Change one thing, and copy-paste the code into `IntakeLauncher.java`.
+    Copy-paste the code into `IntakeLauncher.java`, and change one thing.
 
 </details>
 
 ### Task 4: Finish the `Robot` class
 
-Create new instances of the `IntakeLauncher` and `Feeder` classes.
-They should be
-public properties of the `Robot` class, so that they are accessible from opmodes.
+Now that we have the mechanism classes created, we need to instantiate them in the `Robot` class.
+
+Go to the `Robot` class and create new instances of the `IntakeLauncher` and `Feeder` classes.
+They should be public properties of the `Robot` class, so that they are accessible from OpModes.
 Name them `intakeLauncher` and `feeder`, respectively.
 
 You also need to call `intakeLauncher.periodic();` and `feeder.periodic();`
@@ -170,10 +227,10 @@ Which method should it be?
 
 ### Task 5: Finish the teleop OpMode
 
-In the constructor of the teleop opmode (it should be in `MyTeleop.java`),
+In the constructor of the teleop OpMode (it should be in `MyTeleop.java`),
 create a private `CommandXboxController` instance named `xbox`.
 
-In your opmode constructor, define the following behavior:
+In your OpMode constructor, define the following behavior:
 
 1. While the `xbox.leftBumper()` trigger is active,
    run the `robot.intakeLauncher.intake()` and `robot.feeder.intake()` commands.

src/content/docs/learning-course/stage1/stage1b/spot-the-error.mdx

@@ -70,6 +70,9 @@ Can you spot the error?
 
 ### Exercise 3
 
+This fails to compile, with the error shown in the comment.
+It also has a logic error.
+
 {/* rli:ignore */}
 
 ```java