upd8

RELENTLESS/include/ary-lib/util.hpp

@@ -22,7 +22,7 @@ namespace ary {
 /**
  * Prints our branding all over your pros terminal
  */
-void print_ez_template();
+void printScr();
 
 /**
  * Prints to the brain screen in one string.  Splits input between lines with

RELENTLESS/src/ary-lib/util.cpp

@@ -11,7 +11,7 @@ pros::Controller master(pros::E_CONTROLLER_MASTER);
 namespace ary {
 int mode = DISABLE;
 
-void print_ez_template() {
+void printScr() {
   std::cout << R"(
 
 

RELENTLESS/src/main.cpp

@@ -1,3 +1,9 @@
+/*
+	main.cpp
+
+	The entry point for the bot
+*/
+
 #include "main.h"
 #include "wings.h"
 
@@ -13,17 +19,27 @@ e_controlsch currentuser = RENU;
  * to keep execution time for this mode under a few seconds.
  */
 void initialize() {
-	ary::print_ez_template();
+	ary::printScr();
   
-	pros::delay(500); // legacy ports configure
+	pros::delay(500); // Give time for legacy ports configure
 
+	/*
+		Construct the chassis and it's constants
+		chassisInit() -> Adjusts drive curves, active brake constants, among other things 
+		configureConstants() -> Sets PID constants on the chassis
+		configureExitConditions() -> Sets default values for PID Exit conditions
+	*/
 	chassisInit();
 	configureConstants();
 	configureExitConditions();
 
+	
+	/*
+		Add autonomous paths to the auto selection
+	*/
 	ary::autonselector::auton_selector.add_autons({
-		Auton("Near side (close to alliance goal) \n\nTo run when near alliance goal", near_side), // TODO: Change this before putting this in the notebook LOL
-		Auton("Far side (far from alliance goal) \n\nTo run hwhen far from alliance goal", far_side)
+		Auton("Near side (close to alliance goal) \n\nTo run when near alliance goal", near_side),
+		Auton("Far side (far from alliance goal) \n\nTo run when far from alliance goal", far_side)
 	});
 
 	motorsCoast(); // Allow the motors to coast initially
@@ -32,57 +48,24 @@ void initialize() {
 	ary::autonselector::initialize();
 }
 
-/**
- * Runs while the robot is in the disabled state of Field Management System or
- * the VEX Competition Switch, following either autonomous or opcontrol. When
- * the robot is enabled, this task will exit.
- */
 void disabled() {}
-
-/**
- * Runs after initialize(), and before autonomous when connected to the Field
- * Management System or the VEX Competition Switch. This is intended for
- * competition-specific initialization routines, such as an autonomous selector
- * on the LCD.
- *
- * This task will exit when the robot is enabled and autonomous or opcontrol
- * starts.
- */
 void competition_initialize() {}
 
-/**
- * Runs the user autonomous code. This function will be started in its own task
- * with the default priority and stack size whenever the robot is enabled via
- * the Field Management System or the VEX Competition Switch in the autonomous
- * mode. Alternatively, this function may be called in initialize or opcontrol
- * for non-competition testing purposes.
- *
- * If the robot is disabled or communications is lost, the autonomous task
- * will be stopped. Re-enabling the robot will restart the task, not re-start it
- * from where it left off.
- */
 void autonomous() {
 	autonomousResets();
 	ary::autonselector::auton_selector.call_selected_auton();
 }
 
-/**
- * Runs the operator control code. This function will be started in its own task
- * with the default priority and stack size whenever the robot is enabled via
- * the Field Management System or the VEX Competition Switch in the operator
- * control mode.
- *
- * If no competition control is connected, this function will run immediately
- * following initialize().
- *
- * If the robot is disabled or communications is lost, the
- * operator control task will be stopped. Re-enabling the robot will restart the
- * task, not resume it from where it left off.
- */
 void opcontrol() {
-	opControlInit();
+	opControlInit(); // Configure the chassis for driver control
 
 	while (true) {	
+
+		/*
+			Handle controls for whoever is driving the bot at the moment, each available user a respective set of controls'
+			Available Options:
+			RENU, RIA, CHRIS
+		*/
 		if (currentuser == RENU) {
 			chassis.tank_control();
 			renu_control();