diff --git a/lib/adaptor.js b/lib/adaptor.js
index f56f1e7..82b578e 100644
--- a/lib/adaptor.js
+++ b/lib/adaptor.js
@@ -8,13 +8,17 @@ function formatErrorMessage(name, message) {
   return ["Error in connection", "'" + name + "'", "- " + message].join(" ");
 }
 
-// Public: Creates a new Adaptor
-//
-// opts - hash of acceptable params
-//   name - name of the Adaptor, used when printing to console
-//   connection - Connection the adaptor will use to proxy commands/events
-//
-// Returns a new Adaptor
+/**
+ * Adaptor class
+ *
+ * @constructor Adaptor
+ *
+ * @param {Object} [opts] adaptor options
+ * @param {String} [opts.name] the adaptor's name
+ * @param {Object} [opts.robot] the robot the adaptor belongs to
+ * @param {Object} [opts.host] the host the adaptor will connect to
+ * @param {Object} [opts.port] the port the adaptor will connect to
+ */
 var Adaptor = module.exports = function Adaptor(opts) {
   Adaptor.__super__.constructor.apply(this, arguments);
 
@@ -41,9 +45,12 @@ var Adaptor = module.exports = function Adaptor(opts) {
 
 Utils.subclass(Adaptor, Basestar);
 
-// Public: Basic #connect function. Must be overwritten by a descendent class
-//
-// Returns nothing, throws an error
+/**
+ * A base connect function. Must be overwritten by a descendent.
+ *
+ * @throws Error if not overridden by a child class
+ * @return {void}
+ */
 Adaptor.prototype.connect = function() {
   var message = formatErrorMessage(
     this.name,
@@ -53,9 +60,12 @@ Adaptor.prototype.connect = function() {
   throw new Error(message);
 };
 
-// Public: Basic #disconnect function. Must be overwritten by a descendent class
-//
-// Returns nothing, throws an error
+/**
+ * A base disconnect function. Must be overwritten by a descendent.
+ *
+ * @throws Error if not overridden by a child class
+ * @return {void}
+ */
 Adaptor.prototype.disconnect = function() {
   var message = formatErrorMessage(
     this.name,
@@ -65,9 +75,11 @@ Adaptor.prototype.disconnect = function() {
   throw new Error(message);
 };
 
-// Public: Expresses the Connection in JSON format
-//
-// Returns an Object containing Connection data
+/**
+ * Expresses the Adaptor in a JSON-serializable format
+ *
+ * @return {Object} a representation of the Adaptor in a serializable format
+ */
 Adaptor.prototype.toJSON = function() {
   return {
     name: this.name,
diff --git a/lib/basestar.js b/lib/basestar.js
index 805423f..98624ca 100644
--- a/lib/basestar.js
+++ b/lib/basestar.js
@@ -5,25 +5,28 @@ var EventEmitter = require("events").EventEmitter;
 var Utils = require("./utils"),
     _ = require("./utils/helpers");
 
-// Basestar is a base class to be used when writing external Cylon adaptors and
-// drivers. It provides some useful base methods and functionality
-//
-// It also extends EventEmitter, so child classes are capable of emitting events
-// for other parts of the system to handle.
+/**
+ * The Basestar class is a wrapper class around EventEmitter that underpins most
+ * other Cylon adaptor/driver classes, providing useful external base methods
+ * and functionality.
+ *
+ * @constructor Basestar
+ */
 var Basestar = module.exports = function Basestar() {
   Utils.classCallCheck(this, Basestar);
 };
 
 Utils.subclass(Basestar, EventEmitter);
 
-// Public: Proxies calls from all methods in the object to a target object
-//
-// methods - array of methods to proxy
-// target - object to proxy methods to
-// source - object to proxy methods from
-// force - whether or not to overwrite existing method definitions
-//
-// Returns the klass where the methods have been proxied
+/**
+ * Proxies calls from all methods in the source to a target object
+ *
+ * @param {String[]} methods methods to proxy
+ * @param {Object} target object to proxy methods to
+ * @param {Object} source object to proxy methods from
+ * @param {Boolean} [force=false] whether or not to overwrite existing methods
+ * @return {Object} the source
+ */
 Basestar.prototype.proxyMethods = Utils.proxyFunctionsToObject;
 
 // Public: Triggers a callback and emits an event with provided data
@@ -33,6 +36,18 @@ Basestar.prototype.proxyMethods = Utils.proxyFunctionsToObject;
 // ...data - additional arguments to be passed to both event/callback
 //
 // Returns nothing
+
+/**
+ * Triggers the provided callback, and emits an event with the provided data.
+ *
+ * If an error is provided, emits the 'error' event.
+ *
+ * @param {String} event what event to emit
+ * @param {Function} callback function to be invoked with error/data
+ * @param {*} err possible error value
+ * @param {...*} data data values to be passed to error/callback
+ * @return {void}
+ */
 Basestar.prototype.respond = function(event, callback, err) {
   var args = Array.prototype.slice.call(arguments, 3);
 
@@ -47,17 +62,17 @@ Basestar.prototype.respond = function(event, callback, err) {
   }
 };
 
-// Public: Defines an event handler that proxies events from a source object
-// to a target object
-//
-// opts - object containing options:
-//   - targetEventName or eventName - event that should be emitted from the
-//                                    target
-//   - target - object to proxy event to
-//   - source - object to proxy event from
-//   - sendUpdate - whether or not to send an "update" event
-//
-// Returns the source
+/**
+ * Defines an event handler to proxy events from a source object to a target
+ *
+ * @param {Object} opts event options
+ * @param {EventEmitter} opts.source source of events to listen for
+ * @param {EventEmitter} opts.target target new events should be emitted from
+ * @param {String} opts.eventName name of event to listen for, and proxy
+ * @param {Bool} [opts.sendUpdate=false] whether to emit the 'update' event
+ * @param {String} [opts.targetEventName] new event name to emit from target
+ * @return {EventEmitter} the source object
+ */
 Basestar.prototype.defineEvent = function(opts) {
   opts.sendUpdate = opts.sendUpdate || false;
   opts.targetEventName = opts.targetEventName || opts.eventName;
@@ -76,23 +91,26 @@ Basestar.prototype.defineEvent = function(opts) {
   return opts.source;
 };
 
-// Public: Creates an event handler that proxies events from an adaptor"s
-// "connector" (reference to whatever module is actually talking to the hw)
-// to the adaptor
-//
-// opts - hash of opts to be passed to defineEvent()
-//
-// Returns this.connector
+/**
+ * A #defineEvent shorthand for adaptors.
+ *
+ * Proxies events from an adaptor's connector to the adaptor itself.
+ *
+ * @param {Object} opts proxy options
+ * @return {EventEmitter} the adaptor's connector
+ */
 Basestar.prototype.defineAdaptorEvent = function(opts) {
   return this._proxyEvents(opts, this.connector, this);
 };
 
-// Public: Creates an event handler that proxies events from a driver"s
-// connection to the driver
-//
-// opts - hash of opts to be passed to defineEvent()
-//
-// Returns this.connection
+/**
+ * A #defineEvent shorthand for drivers.
+ *
+ * Proxies events from an driver's connection to the driver itself.
+ *
+ * @param {Object} opts proxy options
+ * @return {EventEmitter} the driver's connection
+ */
 Basestar.prototype.defineDriverEvent = function(opts) {
   return this._proxyEvents(opts, this.connection, this);
 };
diff --git a/lib/driver.js b/lib/driver.js
index aa0ced0..1e14563 100644
--- a/lib/driver.js
+++ b/lib/driver.js
@@ -8,13 +8,17 @@ function formatErrorMessage(name, message) {
   return ["Error in driver", "'" + name + "'", "- " + message].join(" ");
 }
 
-// Public: Creates a new Driver
-//
-// opts - hash of acceptable params
-//   name - name of the Driver, used when printing to console
-//   device - Device the driver will use to proxy commands/events
-//
-// Returns a new Driver
+/**
+ * Driver class
+ *
+ * @constructor Driver
+ * @param {Object} [opts] driver options
+ * @param {String} [opts.name] the driver's name
+ * @param {Object} [opts.robot] the robot the driver belongs to
+ * @param {Object} [opts.connection] the adaptor the driver works through
+ * @param {Number} [opts.pin] the pin number the driver should have
+ * @param {Number} [opts.interval=10] read interval in milliseconds
+ */
 var Driver = module.exports = function Driver(opts) {
   Driver.__super__.constructor.apply(this, arguments);
 
@@ -45,9 +49,12 @@ var Driver = module.exports = function Driver(opts) {
 
 Utils.subclass(Driver, Basestar);
 
-// Public: Basic #start function. Must be overwritten by a descendent class
-//
-// Returns nothing, throws an error
+/**
+ * A base start function. Must be overwritten by a descendent.
+ *
+ * @throws Error if not overridden by a child class
+ * @return {void}
+ */
 Driver.prototype.start = function() {
   var message = formatErrorMessage(
     this.name,
@@ -57,9 +64,12 @@ Driver.prototype.start = function() {
   throw new Error(message);
 };
 
-// Public: Basic #halt function. Must be overwritten by a descendent class
-//
-// Returns nothing, throws an error
+/**
+ * A base halt function. Must be overwritten by a descendent.
+ *
+ * @throws Error if not overridden by a child class
+ * @return {void}
+ */
 Driver.prototype.halt = function() {
   var message = formatErrorMessage(
     this.name,
@@ -69,6 +79,16 @@ Driver.prototype.halt = function() {
   throw new Error(message);
 };
 
+/**
+ * Sets up an array of commands for the Driver.
+ *
+ * Proxies commands from the Driver to its connection (or a manually specified
+ * proxy), and adds a snake_cased version to the driver's commands object.
+ *
+ * @param {String[]} commands an array of driver commands
+ * @param {Object} [proxy=this.connection] proxy target
+ * @return {void}
+ */
 Driver.prototype.setupCommands = function(commands, proxy) {
   if (proxy == null) {
     proxy = this.connection;
@@ -91,6 +111,11 @@ Driver.prototype.setupCommands = function(commands, proxy) {
   }, this);
 };
 
+/**
+ * Expresses the Driver in a JSON-serializable format
+ *
+ * @return {Object} a representation of the Driver in a serializable format
+ */
 Driver.prototype.toJSON = function() {
   return {
     name: this.name,
diff --git a/lib/io/digital-pin.js b/lib/io/digital-pin.js
index a09e3f6..a277460 100644
--- a/lib/io/digital-pin.js
+++ b/lib/io/digital-pin.js
@@ -12,8 +12,15 @@ var GPIO_PATH = "/sys/class/gpio";
 var GPIO_READ = "in";
 var GPIO_WRITE = "out";
 
-// DigitalPin class offers an interface with the Linux GPIO system present in
-// single-board computers such as a Raspberry Pi, or a BeagleBone
+/**
+ * The DigitalPin class provides an interface with the Linux GPIO system present
+ * in single-board computers such as Raspberry Pi, or Beaglebone Black.
+ *
+ * @constructor DigitalPin
+ * @param {Object} opts digital pin options
+ * @param {String} pin which pin number to use
+ * @param {String} mode which pin mode to use
+ */
 var DigitalPin = module.exports = function DigitalPin(opts) {
   this.pinNum = opts.pin.toString();
   this.status = "low";
diff --git a/lib/io/utils.js b/lib/io/utils.js
index 2aa94ad..9de2f91 100644
--- a/lib/io/utils.js
+++ b/lib/io/utils.js
@@ -1,9 +1,15 @@
 "use strict";
 
 module.exports = {
-  // Returns { period: int, duty: int }
-  // Calculated based on params value, freq, pulseWidth = { min: int, max: int }
-  // pulseWidth min and max need to be specified in microseconds
+  /**
+   * Calculates PWM Period and Duty based on provided params.
+   *
+   * @param {Number} scaledDuty the scaled duty value
+   * @param {Number} freq frequency to use
+   * @param {Number} pulseWidth pulse width
+   * @param {String} [polarity=high] polarity value (high or low)
+   * @return {Object} calculated period and duty encapsulated in an object
+   */
   periodAndDuty: function(scaledDuty, freq, pulseWidth, polarity) {
     var period, duty, maxDuty;
 
diff --git a/lib/utils.js b/lib/utils.js
index 129126f..d257a56 100644
--- a/lib/utils.js
+++ b/lib/utils.js
@@ -5,61 +5,52 @@ var _ = require("./utils/helpers");
 var monkeyPatches = require("./utils/monkey-patches");
 
 var Utils = module.exports = {
-  // Public: Alias to setInterval, combined with Number monkeypatches below to
-  // create an artoo-like syntax.
-  //
-  // interval - interval to run action on
-  // action - action to perform at interval
-  //
-  // Examples
-  //
-  //   every((5).seconds(), function() {
-  //     console.log("Hello world (and again in 5 seconds)!");
-  //   });
-  //
-  // Returns an interval
+  /**
+   * A wrapper around setInterval to provide a more english-like syntax
+   * (e.g. "every 5 seconds, do this thing")
+   *
+   * @param {Number} interval delay between action invocations
+   * @param {Function} action function to trigger every time interval elapses
+   * @example every((5).seconds(), function() {});
+   * @return {intervalID} setInterval ID to pass to clearInterval()
+   */
   every: function every(interval, action) {
     return setInterval(action, interval);
   },
 
-  // Public: Alias to setTimeout, combined with Number monkeypatches below to
-  // create an artoo-like syntax.
-  //
-  // interval - interval to run action on
-  // action - action to perform at interval
-  //
-  // Examples
-  //
-  //   after((10).seconds(), function() {
-  //     console.log("Hello world from ten seconds ago!");
-  //   });
-  //
-  // Returns an interval
+  /**
+   * A wrapper around setInterval to provide a more english-like syntax
+   * (e.g. "after 5 seconds, do this thing")
+   *
+   * @param {Number} delay how long to wait
+   * @param {Function} action action to perform after delay
+   * @example after((5).seconds(), function() {});
+   * @return {timeoutId} setTimeout ID to pass to clearTimeout()
+   */
   after: function after(delay, action) {
     return setTimeout(action, delay);
   },
 
-  // Public: Alias to the `every` function, but passing 0
-  // Examples
-  //
-  //   constantly(function() {
-  //     console.log("hello world (and again and again)!");
-  //   });
-  //
-  // Returns an interval
+  /**
+   * A wrapper around setInterval, with a delay of 0ms
+   *
+   * @param {Function} action function to invoke constantly
+   * @example constantly(function() {});
+   * @return {intervalID} setInterval ID to pass to clearInterval()
+   */
   constantly: function constantly(action) {
     return every(0, action);
   },
 
-  // Public: Sleep - do nothing for some duration of time.
-  //
-  // ms - number of ms to sleep for
-  //
-  // Examples
-  //
-  //   sleep((1).second());
-  //
-  // Returns a function
+  /**
+   * Sleeps the program for a period of time.
+   *
+   * Use of this is not advised, as your program can't do anything else while
+   * it's running.
+   *
+   * @param {Number} ms number of milliseconds to sleep
+   * @return {void}
+   */
   sleep: function sleep(ms) {
     var start = Date.now(),
         i = 0;
@@ -69,19 +60,17 @@ var Utils = module.exports = {
     }
   },
 
-  // Public: Function to use for class inheritance.
-  // Based on CoffeeScript's implementation.
-  //
-  // Example
-  //
-  //    var Sphero = function Sphero() {};
-  //
-  //    subclass(Sphero, ParentClass);
-  //
-  //    // Sphero is now a subclass of Parent, and can access parent methods
-  //    // through Sphero.__super__
-  //
-  // Returns subclass
+  /**
+   * Utility for providing class inheritance.
+   *
+   * Based on CoffeeScript's implementation of inheritance.
+   *
+   * Parent class methods/properites are available on Child.__super__.
+   *
+   * @param {Function} child the descendent class
+   * @param {Function} parent the parent class
+   * @return {Function} the child class
+   */
   subclass: function subclass(child, parent) {
     var Ctor = function() {
       this.constructor = child;
@@ -107,16 +96,15 @@ var Utils = module.exports = {
     });
   },
 
-  // Public: Proxies a list of methods from one object to another. It will not
-  // overwrite existing methods unless told to.
-  //
-  // methods - array of functions to proxy
-  // target  - object to proxy the functions to
-  // base    - (optional) object that proxied functions will be declared on.
-  //           Defaults to 'this'.
-  // force   - (optional) boolean - whether or not to force method assignment
-  //
-  // Returns base
+  /**
+   * Proxies calls from all methods in the source to a target object
+   *
+   * @param {String[]} methods methods to proxy
+   * @param {Object} target object to proxy methods to
+   * @param {Object} [base=this] object to proxy methods from
+   * @param {Boolean} [force=false] whether to overwrite existing methods
+   * @return {Object} the base
+   */
   proxyFunctionsToObject: function(methods, target, base, force) {
     if (base == null) {
       base = this;
@@ -143,39 +131,31 @@ var Utils = module.exports = {
     }
   },
 
-  // Public: Analogue to Ruby"s Hash#fetch method for looking up object
-  // properties.
-  //
-  // obj - object to do property lookup on
-  // property - string property name to attempt to look up
-  // fallback - either:
-  //    - a fallback value to return if `property` can"t be found
-  //    - a function to be executed if `property` can"t be found. The function
-  //    will be passed `property` as an argument.
-  //
-  //  Examples
-  //
-  //    var object = { property: "hello world" };
-  //    fetch(object, "property");
-  //    //=> "hello world"
-  //
-  //    fetch(object, "notaproperty", "default value");
-  //    //=> "default value"
-  //
-  //    var notFound = function(prop) { return prop + " not found!" };
-  //    fetch(object, "notaproperty", notFound)
-  //    // "notaproperty not found!"
-  //
-  //    var badFallback = function(prop) { prop + " not found!" };
-  //    fetch(object, "notaproperty", badFallback)
-  //    // Error: no return value from provided callback function
-  //
-  //    fetch(object, "notaproperty");
-  //    // Error: key not found: "notaproperty"
-  //
-  // Returns the value of obj[property], a fallback value, or the results of
-  // running "fallback". If the property isn"t found, and "fallback" hasn"t been
-  // provided, will throw an error.
+  /**
+   * Approximation of Ruby's Hash#fetch method for object property lookup
+   *
+   * @param {Object} obj object to do lookup on
+   * @param {String} property property name to attempt to access
+   * @param {*} fallback a fallback value if property can't be found. if
+   * a function, will be invoked with the string property name.
+   * @throws Error if fallback needed but not provided, or fallback fn doesn't
+   * return anything
+   * @example
+   *    fetch({ property: "hello world" }, "property"); //=> "hello world"
+   * @example
+   *    fetch({}, "notaproperty", "default value"); //=> "default value"
+   * @example
+   *    var notFound = function(prop) { return prop + " not found!" };
+   *    fetch({}, "notaproperty", notFound); //=> "notaproperty not found!"
+   * @example
+   *    var badFallback = function(prop) { prop + " not found!" };
+   *    fetch({}, "notaproperty", badFallback);
+   *    // Error: no return value from provided callback function
+   * @example
+   *    fetch(object, "notaproperty");
+   *    // Error: key not found: "notaproperty"
+   * @return {*} fetched property, fallback, or fallback function return value
+   */
   fetch: function(obj, property, fallback) {
     if (obj.hasOwnProperty(property)) {
       return obj[property];
@@ -205,6 +185,16 @@ var Utils = module.exports = {
   // arr - array of existing names
   //
   // Returns the new name as a string
+
+  /**
+   * Given a name, and an array of existing names, returns a unique new name
+   *
+   * @param {String} name the name that's colliding with existing names
+   * @param {String[]} arr array of existing names
+   * @example
+   *   makeUnique("hello", ["hello", "hello-1", "hello-2"]); //=> "hello3"
+   * @return {String} the new name
+   */
   makeUnique: function(name, arr) {
     var newName;
 
@@ -220,20 +210,12 @@ var Utils = module.exports = {
     }
   },
 
-  // Public: Adds necessary utils to global namespace, along with base class
-  // extensions.
-  //
-  // Examples
-  //
-  //    Number.prototype.seconds // undefined
-  //    after                    // undefined
-  //
-  //    Utils.bootstrap();
-  //
-  //    Number.prototype.seconds // [function]
-  //    (after === Utils.after)  // true
-  //
-  // Returns Cylon.Utils
+  /**
+   * Adds every/after/constantly to the global namespace, and installs
+   * monkey-patches.
+   *
+   * @return {Object} utils object
+   */
   bootstrap: function bootstrap() {
     global.every = this.every;
     global.after = this.after;
diff --git a/lib/utils/monkey-patches.js b/lib/utils/monkey-patches.js
index 13d422c..90a2cd2 100644
--- a/lib/utils/monkey-patches.js
+++ b/lib/utils/monkey-patches.js
@@ -23,25 +23,6 @@ module.exports.uninstall = function() {
 };
 
 module.exports.install = function() {
-  // Public: Monkey-patches Number to have Rails-like //seconds() function.
-  // Warning, due to the way the Javascript parser works, applying functions on
-  // numbers is kind of weird. See examples for details.
-  //
-  // Examples
-  //
-  //   2.seconds()
-  //   //=> SyntaxError: Unexpected token ILLEGAL
-  //
-  //   10..seconds()
-  //   //=> 10000
-  //
-  //   (5).seconds()
-  //   //=> 5000
-  //   // This is the preferred way to represent numbers when calling these
-  //   // methods on them
-  //
-  // Returns an integer representing time in milliseconds
-
   /**
    * Multiplies a number by 1000 to get time in milliseconds
    *