 #include <map>
 #include <string>
 
-#include "C:\Users\Taylor\Documents\Arduino\libraries\ChassisData.h" // Insert own filepath here
+// Insert own filepath here
+#include "C:\Users\Taylor\Documents\Arduino\libraries\ChassisData.h"
 
 #ifndef I2C_ADDRESS
 #define I2C_ADDRESS  1

Servo leftMotor, rightMotor;

ChassisData data;

void setup() {
  // Attach the motors and set their starting speed to neutral/zero speed

  Wire.onReceive(I2CReceive); 
  Serial.begin(115200);
  timeLastPacket = 0;
  dataValid = false;
}

void loop() {
  static boolean timedOut = false;
  
  if(millis() - timeLastPacket < TIMEOUT && dataValid) {
    timedOut = false; 
    
    // Map values from 5-bit char to int from full reverse to full forwards
    int leftSpeed = map(data.left_motor, 0, 32, MIN_FREQUENCY, MAX_FREQUENCY);
    int rightSpeed = map(data.right_motor, 0, 32, MIN_FREQUENCY, MAX_FREQUENCY);
