diff --git a/Commands/Autonomous/Autonomous.cpp b/Commands/Autonomous/Autonomous.cpp
index b003300..f298bb9 100644
--- a/Commands/Autonomous/Autonomous.cpp
+++ b/Commands/Autonomous/Autonomous.cpp
@@ -71,19 +71,19 @@ Autonomous::Autonomous(int seq){
       //TODO: Implement this
       break;
     case 7:
-      // Same as auto 4 with (Three|Two) totes checked, collect bin, drive to Auto Zone (TM), release totes
+      // Same as auto 4, then collect bin, drive to Auto Zone (TM), release totes
       //TODO: Implement this
       break;
     case 8:
       //Use rear elevator to move tote
       AddSequential(new Turn(1.8));
-      AddSequential(new AutoDrive(2.3,0.0,-0.75));
+      AddSequential(new AutoDrive(2.3, 0.0, -0.75));
       AddSequential(new Turn(1.8));
       break;
     case 9:
       //Use rear elevator to move bin
-      AddSequential(new BinLower(.1));
-      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"),0.0,0.75));
+      AddSequential(new BinLower(0.1));
+      AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Zone Distance"), 0.0, 0.75));
       AddSequential(new Turn(2.1));
       break;
     default:
diff --git a/Commands/Autonomous/Autonomous.h b/Commands/Autonomous/Autonomous.h
index bafa61c..5080d3d 100644
--- a/Commands/Autonomous/Autonomous.h
+++ b/Commands/Autonomous/Autonomous.h
@@ -19,6 +19,18 @@
  * Sequence 2: Collects a tote, turns, then drives to the auto zone
  *
  * Sequence 3: Collects two or three totes then drives to auto zone
+ *
+ * Sequence 4: Collect one, two, or three totes, drive to Auto Zone, release totes
+ *
+ * Sequence 5: Same as auto 4, but navigate around bins (not implemented)
+ *
+ * Sequence 6: Collect 1 bin and 1 tote (not implemented)
+ *
+ * Sequence 7: Same as auto 4, then collect bin, drive to auto zone, release totes (not implemented)
+ *
+ * Sequence 8: Use rear elevator to move tote
+ *
+ * Sequence 9: Use rear elevator to move bin
  */
 class Autonomous: public CommandGroup{
   public:
diff --git a/Commands/BinElevator/BinCloseArms.h b/Commands/BinElevator/BinCloseArms.h
index c00cdde..086b8a9 100644
--- a/Commands/BinElevator/BinCloseArms.h
+++ b/Commands/BinElevator/BinCloseArms.h
@@ -5,7 +5,7 @@
 #include "WPILib.h"
 
 /**
- * @brief Closes BinElevatorArms (NOT USED)
+ * @brief Closes BinElevatorArms (unused)
  *
  * Sets the solenoid to close the arms of the BinElevator
  */
@@ -40,6 +40,5 @@ class BinCloseArms: public Command{
      */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et
diff --git a/Commands/BinElevator/BinLower.h b/Commands/BinElevator/BinLower.h
index f9a6068..811adae 100644
--- a/Commands/BinElevator/BinLower.h
+++ b/Commands/BinElevator/BinLower.h
@@ -8,7 +8,6 @@
  * @brief Lowers the bin elevator until a timeout is reached
  */
 class BinLower: public Command{
-  private:
   public:
     /**
      * @brief Constructs BinLower
diff --git a/Commands/Collector/RollVar.h b/Commands/Collector/RollVar.h
index e0408c7..44e60ed 100644
--- a/Commands/Collector/RollVar.h
+++ b/Commands/Collector/RollVar.h
@@ -11,7 +11,7 @@
  */
 class RollVar: public Command{
   private:
-    double speed; //<! Speed control of the collector
+    double speed; //<! Speed multiplier of the collector
   public:
     /**
      * @brief Constructs RollVar
diff --git a/DentRobot.cpp b/DentRobot.cpp
index c16c72e..fd1a7f5 100644
--- a/DentRobot.cpp
+++ b/DentRobot.cpp
@@ -72,12 +72,11 @@ void DentRobot::TeleopInit(){
 }
 void DentRobot::TeleopPeriodic(){
   Scheduler::GetInstance()->Run();
-  //TODO: Calibrate 1.0 to the height we want the elevator to automatically raise
   if(elevator->GetUseEncoder()&&elevator->GetHeight()<=-1.0){
     // Raise the elevator if it dips below elevatorTop
     oi->raise->Start();
   }
-  SmartDashboard::PutNumber("CollectorThrottle",oi->GetLeftThrottle());
+  SmartDashboard::PutNumber("CollectorThrottle", oi->GetLeftThrottle());
 }
 void DentRobot::TestPeriodic(){
 }
diff --git a/Subsystems/Drivetrain.cpp b/Subsystems/Drivetrain.cpp
index 4e368f7..3fdafcf 100644
--- a/Subsystems/Drivetrain.cpp
+++ b/Subsystems/Drivetrain.cpp
@@ -13,7 +13,6 @@ void Drivetrain::InitDefaultCommand(){
   SetDefaultCommand(new Drive());
 }
 void Drivetrain::DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight){
-  //TODO: Find the correct value for kP
   double kP=SmartDashboard::GetNumber("Gyro kP");
   double correctX = -(sensitivity*(pow(x, 3))+(1-sensitivity)*x);
   double correctY = -(sensitivity*(pow(y, 3))+(1-sensitivity)*y);