diff --git a/main.c b/main.c
index 409ab85..015dc68 100644
--- a/main.c
+++ b/main.c
@@ -38,7 +38,7 @@
 */  
 
 #define DRIVE_OFFSET 10
-/* Defines the offset used to correct and curves while the robot is driving straight during the 
+/* Defines the offset used to correct curves while the robot is driving straight during the 
    driveTiles(float numberOfTiles, bool direction) function.
 */
 
@@ -119,11 +119,10 @@ void turntoRight(float turns) {
   }
   stopDriving();
 }
-// Explicit Parameters: None
-// Output: These three functions manage the ball lift and, conveniently, the same motors in reverse 
-// will flip a cap.  flipOn() will spin the motors in the direction needed to flip caps, ballIn() 
-// will spin the motors in the direction needed to collect and pick up balls, and ballOff() will turn off the motors. 
-
+// Explicit Parameters: A floating point number turns will control how much the robot will turn to the right. 
+// When turns is set to 1, the robot will turn exactly 90 degrees. Since it is a floating point number, we can 
+// specify decimal amounts to turns to allow for any angle of a turn. 
+// Output: The robot will turn by (turns * 90) degrees to the right.
 
 void turntoLeft(float turns) {
   clearEnc();
@@ -135,6 +134,11 @@ void turntoLeft(float turns) {
   }
   stopDriving();
 }
+// Explicit Parameters: A floating point number turns will control how much the robot will turn to the left. 
+// When turns is set to 1, the robot will turn exactly 90 degrees. Since it is a floating point number, we can 
+// specify decimal amounts to turns to allow for any angle of a turn. 
+// Output: The robot will turn by (turns * 90) degrees to the left.
+
 
 
 void flipOn() {
@@ -146,6 +150,11 @@ void ballOff() {
 void ballIn() {
   motor[bintake] = MAX_SPEED;
 }
+// Explicit Parameters: None
+// Output: These three functions manage the ball lift and, conveniently, the same motors in reverse will
+// flip a cap. flipOn() will spin the motors in the direction needed to flip caps, ballIn() will spin the 
+// motors in the direction needed to collect and pick up balls, and ballOff() will turn off the motors. 
+
 
 void joystickDrive() {
   if(abs(vexRT[Ch3]) > DEADZONE) {
@@ -165,6 +174,12 @@ void joystickDrive() {
     motor[driveRF] = STOP;
   }
 }
+// Explicit Parameters: None
+// Output: The robot will drive based on the values read from the 2 joysticks on the controller. However, 
+// if the joystick’s value is inside the DEADZONE (10) then the robot will not move. This prevents wasted
+// battery and motor overheating when the robot is not supposed to be moving. This is necessary because when
+// the joysticks are let go they don’t read a value of exactly zero, it’s usually off by a few. 
+
 
 void buttonChecks() {
   if (vexRT[Btn5U] == 1) {
@@ -180,7 +195,9 @@ void buttonChecks() {
   	shootBall();
   } // No need for reverse on the ball launcher!
 }
-
+// Explicit Parameters: None
+// Output: When the corresponding buttons are pressed, various features will be activated, such as the cap 
+// flipper or the ball launcher. When the buttons are released, the action is stopped.
 
 
 void pre_auton() {
@@ -189,6 +206,7 @@ void pre_auton() {
   manage all user created tasks if set to false. */
   bStopTasksBetweenModes = true;
 }
+// Auto-generated ROBOTC autonomous function
 
 void driveTiles(float numberOfTiles, bool direction) {
     // when direction is true, move forward, otherwise go in reverse
@@ -233,13 +251,20 @@ void driveTiles(float numberOfTiles, bool direction) {
 	}
 	stopDriving();
 }
-
+// Explicit Parameters: A floating point number numberOfTurns that represents the number of tiles that the 
+// robot is to drive. Since it is a floating point number, we can move by half or any fraction movement. 
+// There is also the boolean value direction that controls which way the robot is to move. true is for forward, 
+// and false is for reverse. 
+// Output: The robot will drive the specified amount of tiles, in the specified direction. If the robot is not driving 
+// straight, the speeds of the left and right motors can be offset from each other to cancel out any slight drifts
+// to the left or right. We subtract 200 from the distance no matter what here, because the robot moves 
+// that much after it is told to stop. 
 
 task autonomous() {
-	turntoRight(0.03);
-	shootBall();
-	turntoLeft(0.03);
-	driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
+  turntoRight(0.03);
+  shootBall();
+  turntoLeft(0.03);
+  driveTiles(2, FORWARD); // Move 2 forward to hit bottom flag
   driveTiles(1, REVERSE);
   turntoRight(1);
   driveTiles(0.5, REVERSE); // Drive 1/3 of a tile backwards to hit the wall and align ourselves!
@@ -252,11 +277,10 @@ task autonomous() {
   turntoRight(1);
   driveTiles(0.6, REVERSE);
   driveTiles(2.1, FORWARD); // Flip the other cap without turning on the spinner
-  flipOn();
+  flipOn();                 // So we can pick up the ball that's under it!
   driveTiles(0.5, FORWARD);
   ballIn();
   driveTiles(0.1, REVERSE);
-   // So we can pick up the ball!
   wait(3);
   driveTiles(0.1, REVERSE);
   turntoLeft(1);
@@ -267,18 +291,52 @@ task autonomous() {
   driveTiles(0.05, REVERSE);
   driveTiles(0.33, FORWARD);
   wait(2);
-	turntoRight(1);
-	driveTiles(2.2, REVERSE);
-	turntoLeft(1);
-	driveTiles(1, REVERSE);
-	turntoRight(1);
-	driveTiles(0.25, REVERSE);
-	driveTiles(3, FORWARD);
-
+  turntoRight(1);
+  driveTiles(2.2, REVERSE);
+  turntoLeft(1);
+  driveTiles(1, REVERSE);
+  turntoRight(1);
+  driveTiles(0.25, REVERSE);
+  driveTiles(3, FORWARD);
 }
-task usercontrol() { // In user control mode
+/*
+This is the autonomous task. Here’s the path of the robot, described in words instead of code:
+
+1. Start at the red tile closest to the flags. 
+
+2. Turn a tiny bit to the right to aim, and shoot the top flag with our preload.
+
+3. Re-align ourselves and drive to hit the bottom flag. 
+
+4. Back up 1 tile, turn right, and back into the wall to align the robot.
+
+5. Drive forward with the flipper turned on, and flip the cap from blue to red. 
+
+6. Back up, turn left, reverse 1 tile, turn right, back into the wall again to align ourselves.
+
+7. Drive forward, push the cap off of the ball, turn of the flipper and flip the cap.
+
+8. Run the motors to lift the ball up to the ball launcher. We wait a few seconds for the ball.
+
+9. Turn to the left, wait a bit more, and shoot the top flag in the middle column of flags.
+
+10. Turn right, back up to the starting tile, then turn left.
+
+11. Reverse for 1 tile to be perpendicular with the platforms.
+
+12. Turn to face the parking platforms, and reverse into the wall to align ourselves again.
+
+13. Climb to the middle parking platform and stop. 
+*/
+
+  
+task usercontrol() {
   while (true) {
-    joystickDrive(); // Joystick mapping function
-    buttonChecks();  // Button mapping, for lift, ball launcher, etc.
+    joystickDrive();
+    buttonChecks();
   }
-}
\ No newline at end of file
+}
+// When the driver is in control, this task runs. For the entire duration of the driver control period, we need 
+// to be able to control the robot, so we put everything in a while loop. The task calls 2 previously mentioned 
+// functions, joystickDrive() and buttonChecks(). 
+