diff --git a/RELENTLESS/include/ary-lib/PID.hpp b/RELENTLESS/include/ary-lib/PID.hpp
index 3f2e664..3d5bb91 100644
--- a/RELENTLESS/include/ary-lib/PID.hpp
+++ b/RELENTLESS/include/ary-lib/PID.hpp
@@ -98,7 +98,7 @@ class PID {
    * \param current
    *        Current sensor library.
    */
-  double compute(double current);
+  double calculate(double current);
 
   /**
    * Returns target value.
diff --git a/RELENTLESS/src/ary-lib/PID.cpp b/RELENTLESS/src/ary-lib/PID.cpp
index a58e0f9..10fd0bc 100644
--- a/RELENTLESS/src/ary-lib/PID.cpp
+++ b/RELENTLESS/src/ary-lib/PID.cpp
@@ -48,7 +48,7 @@ void PID::set_exit_condition(int p_small_exit_time, double p_small_error, int p_
 void PID::set_target(double input) { target = input; }
 double PID::get_target() { return target; }
 
-double PID::compute(double dist) {
+double PID::calculate(double dist) {
   error = target - dist; // Calculate the error
   derivative = error - lastError; // Calculate the derivative term
 
@@ -63,9 +63,9 @@ double PID::compute(double dist) {
       integral = 0;
   }
 
-  output = (error * constants.kp) + (integral * constants.ki) + (derivative * constants.kd);
+  output = (error * constants.kp) + (integral * constants.ki) + (derivative * constants.kd); // Combine all of the terms to get an output speed
 
-  lastError = error;
+  lastError = error; // Set the last error to the previously calculated error.
 
   return output;
 }
diff --git a/RELENTLESS/src/ary-lib/drive/pid_tasks.cpp b/RELENTLESS/src/ary-lib/drive/pid_tasks.cpp
index 3fba4a8..8322aa4 100644
--- a/RELENTLESS/src/ary-lib/drive/pid_tasks.cpp
+++ b/RELENTLESS/src/ary-lib/drive/pid_tasks.cpp
@@ -31,9 +31,9 @@ void Drive::ez_auto_task() {
 // Drive PID task
 void Drive::drive_pid_task() {
   // Compute PID
-  leftPID.compute(left_sensor());
-  rightPID.compute(right_sensor());
-  headingPID.compute(get_gyro());
+  leftPID.calculate(left_sensor());
+  rightPID.calculate(right_sensor());
+  headingPID.calculate(get_gyro());
 
   // Compute slew
   double l_slew_out = slew_calculate(left_slew, left_sensor());
@@ -58,7 +58,7 @@ void Drive::drive_pid_task() {
 // Turn PID task
 void Drive::turn_pid_task() {
   // Compute PID
-  turnPID.compute(get_gyro());
+  turnPID.calculate(get_gyro());
 
   // Clip gyroPID to max speed
   double gyro_out = util::clip_num(turnPID.output, max_speed, -max_speed);
@@ -77,7 +77,7 @@ void Drive::turn_pid_task() {
 // Swing PID task
 void Drive::swing_pid_task() {
   // Compute PID
-  swingPID.compute(get_gyro());
+  swingPID.calculate(get_gyro());
 
   // Clip swingPID to max speed
   double swing_out = util::clip_num(swingPID.output, max_speed, -max_speed);