1 files changed, 17 insertions, 9 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
index 8398688..7220d89 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
@@ -71,31 +71,38 @@ public class Autonomous {
 			double rDistCurr = robot.rDriveE.getDistance();
 			double lPct = lDistCurr/lDistTarget;
 			double rPct = rDistCurr/rDistTarget;
-			/* Left Drive train */
+
+			/* Left side */
 			c.lDrive = lSpeed;
 			if (Math.abs(1-lPct) < pctTaper) {
-				c.lDrive *= Math.abs((1-lPct)/pctTaper); /* Tapering off to slow down to the designed target*/
+				/* Taper off, slowing down as we approach the designed target */
+				c.lDrive *= Math.abs((1-lPct)/pctTaper);
 				if (Math.abs(robot.lRate.pidGet()) < 0.5) {
-					lMin = c.lDrive = Math.max(c.lDrive, lMin) * 1.05; /* Multiplier*/
+					/* oops, tapered off too quickly */
+					lMin = c.lDrive = Math.max(c.lDrive, lMin) * 1.05; /* Multiplier */
 				}
-				if (c.lDrive > lSpeed) { /* Speed to high*/
+				if (c.lDrive > lSpeed) { /* Speed too high */
 					c.lDrive = lSpeed;
 				}
 			}
 			c.lDrive *= Math.signum(lDistTarget) * Math.signum(1-lPct);
-			/* Right Drive Train*/
+
+			/* Right side */
 			c.rDrive = rSpeed;
 			if (Math.abs(1-rPct) < pctTaper) {
-				c.rDrive *= Math.abs((1-rPct)/pctTaper); /* Tapering off to slow down to the deigned target*/
+				/* Taper off, slowing down as we approach the designated target */
+				c.rDrive *= Math.abs((1-rPct)/pctTaper);
 				if (Math.abs(robot.rRate.pidGet()) < 0.5) {
-					rMin = c.rDrive = Math.max(c.rDrive, rMin) * 1.05; /* Multiplier*/
+					/* oops, tapered off too quickly */
+					rMin = c.rDrive = Math.max(c.rDrive, rMin) * 1.05; /* Multiplier */
 				}
-				if (c.rDrive > rSpeed) { /* Speed to high*/
+				if (c.rDrive > rSpeed) { /* Speed too high */
 					c.rDrive = rSpeed;
 				}
 			}
 			c.rDrive *= Math.signum(rDistTarget) * Math.signum(1-rPct);
-			/* If lDrive or rDrive is not even */
+
+			/* Make sure the left and right sides are even */
 			if (Math.abs(lPct - rPct) > pctTolerance) {
 				if (lPct > rPct) {
 					c.lDrive *= pctThrottle;
@@ -103,6 +110,7 @@ public class Autonomous {
 					c.rDrive *= pctThrottle;
 				}
 			}
+
 			SmartDashboard.putNumber("lPct", lPct);
 			SmartDashboard.putNumber("rPct", rPct);
 			SmartDashboard.putNumber("lMin", lMin);