diff --git a/wpiformat/wpiformat/__init__.py b/wpiformat/wpiformat/__init__.py
index 1ce8d8c..e6f5058 100644
--- a/wpiformat/wpiformat/__init__.py
+++ b/wpiformat/wpiformat/__init__.py
@@ -11,6 +11,7 @@
 from wpiformat.cidentlist import CIdentList
 from wpiformat.clangformat import ClangFormat
 from wpiformat.clangtidy import ClangTidy
+from wpiformat.commentformat import CommentFormat
 from wpiformat.config import Config
 from wpiformat.eofnewline import EofNewline
 from wpiformat.gtestname import GTestName
@@ -470,6 +471,7 @@ def main():
         task_pipeline = [
             BraceComment(),
             CIdentList(),
+            CommentFormat(),
             EofNewline(),
             GTestName(),
             IncludeGuard(),
diff --git a/wpiformat/wpiformat/commentformat.py b/wpiformat/wpiformat/commentformat.py
new file mode 100644
index 0000000..3b93a01
--- /dev/null
+++ b/wpiformat/wpiformat/commentformat.py
@@ -0,0 +1,207 @@
+"""This task formats Doxygen and Javadoc comments.
+
+Comments are rewrapped to 80 characters for C++ and 100 for Java. The @param
+tag has one space followed by the parameter name, at least one one space, then
+the description. All @param descriptions start on the same column.
+
+The first letter of paragraphs and tag descriptions is capitalized and a "." is
+appended if one is not already. Descriptions past 80 (or 100) characters are
+wrapped to the next line at the same starting column.
+
+The indentation of lists is left alone. Bulleted lists can use "-", "+", or "*"
+while numbered lists use numbers followed by ".".
+"""
+
+import regex
+
+from wpiformat.task import Task
+
+
+class CommentFormat(Task):
+    @staticmethod
+    def should_process_file(config_file, name):
+        return (
+            config_file.is_c_file(name)
+            or config_file.is_cpp_file(name)
+        )
+
+    def textwrap(self, lines, column_limit):
+        """Wraps lines to the provided column limit and returns a list of lines.
+
+        Keyword Arguments:
+        lines -- string to wrap
+        column_limit -- maximum number of characters per line
+        """
+        output = []
+        output_str = ""
+        rgx = regex.compile(r"{@link(?>.*?})|\S+")
+        for match in rgx.finditer(lines):
+            if len(output_str) + len(" ") + len(match.group()) > column_limit:
+                output.append(output_str)
+                output_str = match.group()
+            else:
+                if output_str:
+                    output_str += " "
+                output_str += match.group()
+        if output_str:
+            output.append(output_str)
+        return output
+
+    def run_pipeline(self, config_file, name, lines):
+        linesep = Task.get_linesep(lines)
+
+        COLUMN_LIMIT = 80
+
+        output = ""
+
+        # Construct regex for Doxygen comment
+        indent = r"(?P<indent>[ \t]*)?"
+        comment_rgx = regex.compile(indent + r"/\*\*(?>(.|" + linesep + r")*?\*/)")
+        asterisk_rgx = regex.compile(r"^\s*(\*|\*/)")
+
+        # Comment parts
+        brief = (
+            r"(?P<brief>(.|"
+            + linesep
+            + r")*?("
+            + linesep
+            + linesep
+            + r"|"
+            + linesep
+            + r"$|"
+            + linesep
+            + r"(?=@)|$))"
+        )
+        brief_rgx = regex.compile(brief)
+
+        tag = r"@(?<tag_name>\w+)\s+(?<arg_name>\w+)\s+(?<description>[^@]*)"
+        tag_rgx = regex.compile(tag)
+
+        pos = 0
+        for comment_match in comment_rgx.finditer(lines):
+            # Append lines before match
+            output += lines[pos : comment_match.start()]
+
+            # If there is an indent, create a variable with that amount of
+            # spaces in it
+            if comment_match.group("indent"):
+                spaces = " " * len(comment_match.group("indent"))
+            else:
+                spaces = ""
+
+            # Append start of comment
+            output += spaces + "/**" + linesep
+
+            # Remove comment start/end and leading asterisks from comment lines
+            comment = comment_match.group()
+            comment = comment[
+                len(comment_match.group("indent"))
+                + len("/**") : len(comment)
+                - len("*/")
+            ]
+            comment_list = [
+                asterisk_rgx.sub("", line).strip() for line in comment.split(linesep)
+            ]
+            comment = linesep.join(comment_list).strip(linesep)
+
+            # Parse comment paragraphs
+            comment_pos = 0
+            i = 0
+            while comment_pos < len(comment) and comment[comment_pos] != "@":
+                match = brief_rgx.search(comment[comment_pos:])
+
+                # If no paragraphs were found, bail out early
+                if not match:
+                    break
+
+                # Start writing paragraph
+                if comment_pos > 0:
+                    output += spaces + " *" + linesep
+                output += spaces + " * "
+
+                # If comments are javadoc and it isn't the first paragraph
+                if name.endswith(".java") and comment_pos > 0:
+                    if not match.group().startswith("<p>"):
+                        # Add paragraph tag before new paragraph
+                        output += "<p>"
+
+                # Strip newlines and extra spaces between words from paragraph
+                contents = " ".join(match.group().split())
+
+                # Capitalize first letter of paragraph and wrap paragraph
+                contents = self.textwrap(
+                    contents[:1].upper() + contents[1:],
+                    COLUMN_LIMIT - len(" * ") - len(spaces),
+                )
+
+                # Write out paragraphs
+                for i, line in enumerate(contents):
+                    if i == 0:
+                        output += line
+                    else:
+                        output += spaces + " * " + line
+                    # Put period at end of paragraph
+                    if i == len(contents) - 1 and output[-1] != ".":
+                        output += "."
+                    output += linesep
+
+                comment_pos += match.end()
+
+            # Parse tags
+            tag_list = []
+            for match in tag_rgx.finditer(comment[comment_pos:]):
+                contents = " ".join(match.group("description").split())
+                if match.group("tag_name") == "param":
+                    tag_list.append(
+                        (match.group("tag_name"), match.group("arg_name"), contents)
+                    )
+                else:
+                    tag_list.append(
+                        (
+                            match.group("tag_name"),
+                            "",
+                            match.group("arg_name") + " " + contents,
+                        )
+                    )
+
+            # Insert empty line before tags if there was a description before
+            if tag_list and comment_pos > 0:
+                output += spaces + " *" + linesep
+
+            for tag in tag_list:
+                # Only line up param tags
+                if tag[0] == "param":
+                    tagline = f"{spaces} * @{tag[0]} {tag[1]} "
+                else:
+                    tagline = f"{spaces} * @{tag[0]} "
+
+                # Capitalize first letter of description and wrap description
+                contents = self.textwrap(
+                    tag[2][:1].upper() + tag[2][1:],
+                    COLUMN_LIMIT - len("    ") - len(spaces),
+                )
+
+                # Write out tags
+                output += tagline
+                for i, line in enumerate(contents):
+                    if i == 0:
+                        output += line
+                    else:
+                        output += f"{spaces} *     {line}"
+                    # Put period at end of description
+                    if i == len(contents) - 1 and output[-1] != ".":
+                        output += "."
+                    output += linesep
+
+            # Append closing part of comment
+            output += spaces + " */"
+            pos = comment_match.end()
+
+        # Append leftover lines in file
+        if pos < len(lines):
+            output += lines[pos:]
+
+        if output != lines:
+            return (output, True)
+        else:
+            return (lines, True)
diff --git a/wpiformat/wpiformat/test/test_commentformat.py b/wpiformat/wpiformat/test/test_commentformat.py
new file mode 100644
index 0000000..6811d15
--- /dev/null
+++ b/wpiformat/wpiformat/test/test_commentformat.py
@@ -0,0 +1,392 @@
+import os
+
+from .test_tasktest import *
+from wpiformat.commentformat import CommentFormat
+
+
+def test_commentformat():
+    test = TaskTest(CommentFormat())
+
+    # Empty comment
+    test.add_input("./Test.h", "/**" + os.linesep + " */" + os.linesep)
+    test.add_latest_input_as_output(True)
+
+    # Adds space before asterisks
+    test.add_input(
+        "./Test.h", "/**" + os.linesep + "*" + os.linesep + "*/" + os.linesep
+    )
+    test.add_output("/**" + os.linesep + " */" + os.linesep, True)
+
+    # Put /** on separate line
+    test.add_input("./Test.h", "/** asdf */" + os.linesep)
+    test.add_output(
+        "/**" + os.linesep + " * Asdf." + os.linesep + " */" + os.linesep, True
+    )
+
+    # Paragraphs but no tags
+    test.add_input(
+        "./Accelerometer.cpp",
+        "/**"
+        + os.linesep
+        + " * Get the x-axis acceleration"
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * This is a floating point value in units of 1 g-force"
+        + os.linesep
+        + " */"
+        + os.linesep,
+    )
+    test.add_output(
+        "/**"
+        + os.linesep
+        + " * Get the x-axis acceleration."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * This is a floating point value in units of 1 g-force."
+        + os.linesep
+        + " */"
+        + os.linesep,
+        True,
+    )
+
+    # Paragraphs but no tags
+    test.add_input(
+        "./Accelerometer.cpp",
+        "/**"
+        + os.linesep
+        + " * Convert a 12-bit raw acceleration value into a scaled double in units of"
+        + os.linesep
+        + " * 1 g-force, taking into account the accelerometer range."
+        + os.linesep
+        + " */"
+        + os.linesep,
+    )
+    test.add_output(
+        "/**"
+        + os.linesep
+        + " * Convert a 12-bit raw acceleration value into a scaled double in units of 1"
+        + os.linesep
+        + " * g-force, taking into account the accelerometer range."
+        + os.linesep
+        + " */"
+        + os.linesep,
+        True,
+    )
+
+    # @param tag but with blank line before it and no description
+    test.add_input(
+        "./AnalogInput.cpp",
+        "/**"
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * @param analogPortHandle Handle to the analog port."
+        + os.linesep
+        + " */"
+        + os.linesep,
+    )
+    test.add_output(
+        "/**"
+        + os.linesep
+        + " * @param analogPortHandle Handle to the analog port."
+        + os.linesep
+        + " */"
+        + os.linesep,
+        True,
+    )
+
+    # Paragraph with @param and @return tags
+    test.add_input(
+        "./AnalogAccumulator.cpp",
+        "/**"
+        + os.linesep
+        + " * Is the channel attached to an accumulator."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * @param analogPortHandle Handle to the analog port."
+        + os.linesep
+        + " * @return The analog channel is attached to an accumulator."
+        + os.linesep
+        + " */"
+        + os.linesep,
+    )
+    test.add_latest_input_as_output(True)
+
+    # Paragraph and @return with no empty line between them
+    test.add_input(
+        "./AnalogTrigger.cpp",
+        "/**"
+        + os.linesep
+        + " * Return the InWindow output of the analog trigger."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * True if the analog input is between the upper and lower limits."
+        + os.linesep
+        + " * @return The InWindow output of the analog trigger."
+        + os.linesep
+        + " */"
+        + os.linesep,
+    )
+    test.add_output(
+        "/**"
+        + os.linesep
+        + " * Return the InWindow output of the analog trigger."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * True if the analog input is between the upper and lower limits."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * @return The InWindow output of the analog trigger."
+        + os.linesep
+        + " */"
+        + os.linesep,
+        True,
+    )
+
+    # C++: paragraphs with @param tags
+    test.add_input(
+        "./PIDController.cpp",
+        "  /**"
+        + os.linesep
+        + "   * Allocate a PID object with the given constants for P, I, D."
+        + os.linesep
+        + "   *"
+        + os.linesep
+        + "   * More summary."
+        + os.linesep
+        + "   * Even more summary."
+        + os.linesep
+        + "   *"
+        + os.linesep
+        + "   * @param Kp the proportional coefficient"
+        + os.linesep
+        + "   * @param Ki the integral coefficient"
+        + os.linesep
+        + "   * @param Kd the derivative coefficient"
+        + os.linesep
+        + "   * @param source The PIDSource object that is used to get values"
+        + os.linesep
+        + "   * @param output The PIDOutput object that is set to the output value"
+        + os.linesep
+        + "   * @param period the loop time for doing calculations. This particularly"
+        + os.linesep
+        + "   *     effects calculations of the integral and differental terms. The default"
+        + os.linesep
+        + "   *     is 50ms."
+        + os.linesep
+        + "   */"
+        + os.linesep
+        + "  PIDController::PIDController(double Kp, double Ki, double Kd, PIDSource* source,"
+        + os.linesep
+        + "                               PIDOutput* output, double period)"
+        + os.linesep,
+    )
+    test.add_output(
+        "  /**"
+        + os.linesep
+        + "   * Allocate a PID object with the given constants for P, I, D."
+        + os.linesep
+        + "   *"
+        + os.linesep
+        + "   * More summary. Even more summary."
+        + os.linesep
+        + "   *"
+        + os.linesep
+        + "   * @param Kp The proportional coefficient."
+        + os.linesep
+        + "   * @param Ki The integral coefficient."
+        + os.linesep
+        + "   * @param Kd The derivative coefficient."
+        + os.linesep
+        + "   * @param source The PIDSource object that is used to get values."
+        + os.linesep
+        + "   * @param output The PIDOutput object that is set to the output value."
+        + os.linesep
+        + "   * @param period The loop time for doing calculations. This particularly effects"
+        + os.linesep
+        + "   *     calculations of the integral and differental terms. The default is 50ms."
+        + os.linesep
+        + "   */"
+        + os.linesep
+        + "  PIDController::PIDController(double Kp, double Ki, double Kd, PIDSource* source,"
+        + os.linesep
+        + "                               PIDOutput* output, double period)"
+        + os.linesep,
+        True,
+    )
+
+    # List ("-" bullets)
+    test.add_input(
+        "./DigitalInternal.h",
+        "/**"
+        + os.linesep
+        + " * The default PWM period is in ms."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + ' * - 20ms periods (50 Hz) are the "safest" setting in that this works for all'
+        + os.linesep
+        + " *   devices"
+        + os.linesep
+        + " * - 20ms periods seem to be desirable for Vex Motors"
+        + os.linesep
+        + " * - 20ms periods are the specified period for HS-322HD servos, but work"
+        + os.linesep
+        + " *   reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums"
+        + os.linesep
+        + " *   and get hot; by 5.0ms the hum is nearly continuous"
+        + os.linesep
+        + " * - 10ms periods work well for Victor 884"
+        + os.linesep
+        + " * - 5ms periods allows higher update rates for Luminary Micro Jaguar speed"
+        + os.linesep
+        + " *   controllers. Due to the shipping firmware on the Jaguar, we can't run the"
+        + os.linesep
+        + " *   update period less than 5.05 ms."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period"
+        + os.linesep
+        + " * scaling is implemented as an output squelch to get longer periods for old"
+        + os.linesep
+        + " * devices."
+        + os.linesep
+        + " */"
+        + os.linesep,
+    )
+    test.add_latest_input_as_output(True)
+
+    # List ("+" bullets)
+    test.add_input(
+        "./DigitalInternal.h",
+        "/**"
+        + os.linesep
+        + " * The default PWM period is in ms."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + ' * + 20ms periods (50 Hz) are the "safest" setting in that this works for all'
+        + os.linesep
+        + " *   devices"
+        + os.linesep
+        + " * + 20ms periods seem to be desirable for Vex Motors"
+        + os.linesep
+        + " * + 20ms periods are the specified period for HS-322HD servos, but work"
+        + os.linesep
+        + " *   reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums"
+        + os.linesep
+        + " *   and get hot; by 5.0ms the hum is nearly continuous"
+        + os.linesep
+        + " * + 10ms periods work well for Victor 884"
+        + os.linesep
+        + " * + 5ms periods allows higher update rates for Luminary Micro Jaguar speed"
+        + os.linesep
+        + " *   controllers. Due to the shipping firmware on the Jaguar, we can't run the"
+        + os.linesep
+        + " *   update period less than 5.05 ms."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period"
+        + os.linesep
+        + " * scaling is implemented as an output squelch to get longer periods for old"
+        + os.linesep
+        + " * devices."
+        + os.linesep
+        + " */"
+        + os.linesep,
+    )
+    test.add_latest_input_as_output(True)
+
+    # List ("*" bullets)
+    test.add_input(
+        "./DigitalInternal.h",
+        "/**"
+        + os.linesep
+        + " * The default PWM period is in ms."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + ' * * 20ms periods (50 Hz) are the "safest" setting in that this works for all'
+        + os.linesep
+        + " *   devices"
+        + os.linesep
+        + " * * 20ms periods seem to be desirable for Vex Motors"
+        + os.linesep
+        + " * * 20ms periods are the specified period for HS-322HD servos, but work"
+        + os.linesep
+        + " *   reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums"
+        + os.linesep
+        + " *   and get hot; by 5.0ms the hum is nearly continuous"
+        + os.linesep
+        + " * * 10ms periods work well for Victor 884"
+        + os.linesep
+        + " * * 5ms periods allows higher update rates for Luminary Micro Jaguar speed"
+        + os.linesep
+        + " *   controllers. Due to the shipping firmware on the Jaguar, we can't run the"
+        + os.linesep
+        + " *   update period less than 5.05 ms."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period"
+        + os.linesep
+        + " * scaling is implemented as an output squelch to get longer periods for old"
+        + os.linesep
+        + " * devices."
+        + os.linesep
+        + " */"
+        + os.linesep,
+    )
+    test.add_latest_input_as_output(True)
+
+    # List (numbered items)
+    test.add_input(
+        "./DigitalInternal.h",
+        "/**"
+        + os.linesep
+        + " * The default PWM period is in ms."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + ' * 1. 20ms periods (50 Hz) are the "safest" setting in that this works for all'
+        + os.linesep
+        + " *    devices"
+        + os.linesep
+        + " * 2. 20ms periods seem to be desirable for Vex Motors"
+        + os.linesep
+        + " * 3. 20ms periods are the specified period for HS-322HD servos, but work"
+        + os.linesep
+        + " *    reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums"
+        + os.linesep
+        + " *    and get hot; by 5.0ms the hum is nearly continuous"
+        + os.linesep
+        + " * 4. 10ms periods work well for Victor 884"
+        + os.linesep
+        + " * 5. 5ms periods allows higher update rates for Luminary Micro Jaguar speed"
+        + os.linesep
+        + " *    controllers. Due to the shipping firmware on the Jaguar, we can't run the"
+        + os.linesep
+        + " *    update period less than 5.05 ms."
+        + os.linesep
+        + " *"
+        + os.linesep
+        + " * kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period"
+        + os.linesep
+        + " * scaling is implemented as an output squelch to get longer periods for old"
+        + os.linesep
+        + " * devices."
+        + os.linesep
+        + " */"
+        + os.linesep,
+    )
+    test.add_latest_input_as_output(True)
+
+    test.run(OutputType.FILE)