diff --git a/Autodriving/motortest_first.ino b/Autodriving/motortest_first.ino
index 1ab2944..e87f469 100644
--- a/Autodriving/motortest_first.ino
+++ b/Autodriving/motortest_first.ino
@@ -1,127 +1,150 @@
- 
-#include "Motorz.h";
-#include "tankdrive.h";
-#include <NewPing.h>
-#include <DHT.h>
-
-#define DHTPIN 2
-#define iterations 3
-#define SONAR_L_PIN 3
-#define SONAR_M_PIN 4
-#define SONAR_R_PIN 5
-#define MAX_DISTANCE 400
-
-NewPing sonarL(SONAR_L_PIN,SONAR_L_PIN, MAX_DISTANCE);
-NewPing sonarM(SONAR_M_PIN,SONAR_M_PIN, MAX_DISTANCE);
-NewPing sonarR(SONAR_R_PIN,SONAR_R_PIN, MAX_DISTANCE);
-DHT dht(DHTPIN, DHT11); 
-
-float soundcm;
-float temp=20.0;
-float hum=50.0;
-float duration;
-
-unsigned long temp_startcnt;
-unsigned long temp_currcnt;
-int i;
-int dist[3];
-int enr=10;
-int in1=11;
-int in2=12;
-int directr=1;
-int enl=9;
-int in3=7;
-int in4=8;
-int directl=0;
-
-Motorz motorR(enr,in1,in2,directr);
-Motorz motorL(enl,in3,in4,directl);
-TankDrive mytank(&motorR,directr,&motorL,directl);
-
-void setup(){
-  temp_startcnt=millis();
-  dht.begin();
-  Serial.begin(115200);
-  Serial.println("Setup");
-  motorR.SetSpeed(200);
-  motorL.SetSpeed(60);
-  soundcm = 331.4 + (0.606 * temp) + (0.0124 * hum) ;
-  soundcm=soundcm/10000;
-
-  }
-
-
-void loop()
-{
-  temp_currcnt=millis();
-  if((temp_currcnt-temp_startcnt)>=30000){
-     GetTemps();
-     Serial.println();
-     Serial.println();
-     Serial.print("temps aquaried ");
-     Serial.print(millis());
-     Serial.println();
-     Serial.println();
-  }
-
-  GetDistances();
-  if(dist[1]>5){
-  Serial.print("Moving forward\n");
-  mytank.MoveForward();
-  }
-  else{
-    Serial.print("Object detected\n");
-    mytank.Stop();
-  }
-
-  /*
-  mytank.MoveForward();
-    delay(5000);
-  mytank.Stop();
-  delay(2000);
-  mytank.TurnRight();
-  delay(5000);
-  mytank.Stop();
-  delay(2000);
-  mytank.MoveBack();
-  delay(5000);
-   mytank.Stop();
-  delay(2000);
-  */
-}
-
-void GetDistances(){
-  /*duration = sonarL.ping_median(iterations);
-  dist[0]=(duration / 2) * soundcm;
-  duration = sonarM.ping_median(iterations);
-  dist[1]=(duration / 2) * soundcm;
-  duration = sonarR.ping_median(iterations);
-  dist[2]=(duration / 2) * soundcm;  */
-  duration = sonarL.ping();
-  dist[0]=(duration / 2) * soundcm;
-  delay(100);
-  duration = sonarM.ping();
-  dist[1]=(duration / 2) * soundcm;
-  delay(100);
-  duration = sonarR.ping();
-  dist[2]=(duration / 2) * soundcm;  
-  delay(100);
-  Serial.print("Distance L:");
-  Serial.print(dist[0]);
-  Serial.print(" M:");
-  Serial.print(dist[1]);
-  Serial.print(" R:");
-  Serial.print(dist[2]);
-  Serial.print(" Temp:");
-  Serial.print(temp);
-   Serial.print(" Humidity:");
-  Serial.print(hum);
-  Serial.println();
-}
-
-void GetTemps(){
-  hum = dht.readHumidity();  // Get Humidity value
-  temp= dht.readTemperature(); // Get Temp value
-  temp_startcnt=temp_currcnt;
-  
-}
+
+//very crude libraries with objects for motor and tandrive system (2 motors no steering)
+//tandrive is an object that you attach the motor objects you make bellow made some functions 
+//in hope it will be more easier to read etc.
+
+#include "Motorz.h";
+#include "tankdrive.h";
+#include <NewPing.h>
+#include <DHT.h>
+
+#define DHTPIN 2   // temp humidity sensor pin (why? sound speed changes according to temp/humidity)
+#define iterations 3 // can be used with function ping_median from new ping (takes median value ,unused)
+#define SONAR_L_PIN 3 //left sonar sensor 3 pin configuration (trig&echo) are bound to 1 pin
+#define SONAR_M_PIN 4 // middle sonar sensor
+#define SONAR_R_PIN 5 // right sonar sensor
+#define MAX_DISTANCE 400 //max sonar dinstance according to the type of sensor i use Hc-SR04
+
+NewPing sonarL(SONAR_L_PIN,SONAR_L_PIN, MAX_DISTANCE);
+NewPing sonarM(SONAR_M_PIN,SONAR_M_PIN, MAX_DISTANCE);
+NewPing sonarR(SONAR_R_PIN,SONAR_R_PIN, MAX_DISTANCE);
+  
+DHT dht(DHTPIN, DHT11); 
+
+float soundcm;  
+float temp=20.0;
+float hum=50.0;
+float duration;
+
+//calculating speed of sound uses floats and multiplications we don't want to bog down
+// our already slow and weak cpu so i use a the variables bellow along with function millis()
+// to take measurments every half minute (still too often in my opinion)
+  
+unsigned long temp_startcnt;
+unsigned long temp_currcnt;
+  
+int i;
+int dist[3]; //table that holds the distances the sensors measured
+ 
+ //using an L298N motor driver module  
+  
+int enr=10; // enable pin for motor r (must be pwm)
+int in1=11; // pin for one of the two connections of the mottor 
+int in2=12;// other connection (these two are digital pins)
+// depends on how you end up wiring and placing the motors it will spin a certain way 
+// and another way when you reverse the voltage , direct holds (0,1) depending on how you 
+// wired the motor to go "forwards" what ever that means for your project
+int directr=1; 
+int enl=9;
+int in3=7;
+int in4=8;
+int directl=0;
+
+Motorz motorR(enr,in1,in2,directr);
+Motorz motorL(enl,in3,in4,directl);
+  
+TankDrive mytank(&motorR,directr,&motorL,directl);
+
+void setup(){
+  temp_startcnt=millis(); //temp&humidity counter
+  dht.begin();            //it needs this
+  Serial.begin(115200);  //serial monitor for debugging
+  Serial.println("Setup"); 
+  motorR.SetSpeed(200);  //im using diffrent motors (trying to simulate wheels so i figure things out ) 
+  motorL.SetSpeed(60);	// so that explains the diffrent speed in each motor
+  soundcm = 331.4 + (0.606 * temp) + (0.0124 * hum) ;	
+  soundcm=soundcm/10000; //speed of sound per cm 
+
+  }
+
+
+void loop()
+{
+  temp_currcnt=millis();
+  if((temp_currcnt-temp_startcnt)>=30000){
+     GetTemps();
+     Serial.println();
+     Serial.println();
+     Serial.print("temps aquaried ");
+     Serial.print(millis());
+     Serial.println();
+     Serial.println();
+  }
+  //for now it only detects things from the front sensor but  
+  // with only few lines and ifs you can make it better 
+  // moves forward until there's something 5cm in front of it 
+  // carefull this sonar sensors aren't that accurate in < 6 cm distances in my opinion
+                                                            
+  GetDistances();
+  if(dist[1]>5){
+  Serial.print("Moving forward\n");
+  mytank.MoveForward();
+  }
+  else{
+    Serial.print("Object detected\n");
+    mytank.Stop();
+  }
+
+  /*
+  mytank.MoveForward();
+    delay(5000);
+  mytank.Stop();
+  delay(2000);
+  mytank.TurnRight();
+  delay(5000);
+  mytank.Stop();
+  delay(2000);
+  mytank.MoveBack();
+  delay(5000);
+   mytank.Stop();
+  delay(2000);
+  */
+}
+
+void GetDistances(){
+  /*duration = sonarL.ping_median(iterations);
+  dist[0]=(duration / 2) * soundcm;
+  duration = sonarM.ping_median(iterations);
+  dist[1]=(duration / 2) * soundcm;
+  duration = sonarR.ping_median(iterations);
+  dist[2]=(duration / 2) * soundcm;  */
+  
+  duration = sonarL.ping();  //sending supersonic sound wave and measuring the time it takes to come back
+  dist[0]=(duration / 2) * soundcm; // devide by 2 (hit object came back ) and multiply by speed of sound
+  delay(100); 						//the delay is crusial since we're firing one sensor after another
+  duration = sonarM.ping();			//we don't want noise from one sonar waver of one sensors affecting another
+  dist[1]=(duration / 2) * soundcm;
+  delay(100);
+  duration = sonarR.ping(); /
+  dist[2]=(duration / 2) * soundcm;  
+  delay(100);
+  Serial.print("Distance L:");
+  Serial.print(dist[0]);
+  Serial.print(" M:");
+  Serial.print(dist[1]);
+  Serial.print(" R:");
+  Serial.print(dist[2]);
+  Serial.print(" Temp:");
+  Serial.print(temp);
+   Serial.print(" Humidity:");
+  Serial.print(hum);
+  Serial.println();
+}
+
+void GetTemps(){
+  hum = dht.readHumidity();  // Get Humidity value
+  temp= dht.readTemperature(); // Get Temp value
+  temp_startcnt=temp_currcnt;
+  soundcm = 331.4 + (0.606 * temp) + (0.0124 * hum) ;	
+  soundcm=soundcm/10000; //speed of sound per cm 
+}