   }
 }
 
-// Walk
-inline void walk(){
+/**
+     Walks
+*/inline void walk(){
   digitalWrite(MOTOR_RIGHT, HIGH);
   digitalWrite(MOTOR_LEFT, HIGH);
 }
 
-// Walk
+/**
+     Walks
+     
+     @param speed
+*/
 inline void walk(int speed){
   analogWrite(MOTOR_RIGHT, speed);
   analogWrite(MOTOR_LEFT, speed);
 }
 
-// Stop
+/**
+     Stops
+*/
 inline void stop(){
   digitalWrite(MOTOR_RIGHT, LOW);
   digitalWrite(MOTOR_LEFT, LOW);

  FRONT
};

// Setup
void setup() {
  //pinMode(13, OUTPUT);
  pinMode(9, OUTPUT);

    delay(200);
}

/**
     Rotates
     
     @param direction
*/
inline void rotate(Direction d){
  delay(300);
  switch(d){
