diff --git a/R scripts/poseEstimationChecker.R b/R scripts/poseEstimationChecker.R
index 351f64f4..40fa73cf 100644
--- a/R scripts/poseEstimationChecker.R	
+++ b/R scripts/poseEstimationChecker.R	
@@ -1,19 +1,24 @@
+#Simple helper conversion methods
 rad2deg <- function(rad) {(rad * 180) / (pi)}
 deg2rad <- function(deg) {(deg * pi) / (180)}
 
-calcWheelbase <- function(left, right, angle){
-  return((left-right)/angle);
+#Calculate the effective wheelbase for a given delta left, right, and angle
+calcWheelbase <- function(deltaLeft, deltaRight, deltaAngle){
+  return((deltaLeft-deltaRight)/deltaAngle);
 }
 
+#Smooths a value while taking its derivative with respect to time.
 smoothDerivative <- function(value, timeMillis, n){
   smoothed <- (value[(n+1):length(value)] - value[1:(length(value)-n)])/((timeMillis[(n+1):length(timeMillis)] - timeMillis[1:(length(timeMillis)-n)])/1000);
   return(c(rep(0, ceiling(n/2)), smoothed, rep(0, floor(n/2))));
 }
 
-plotWheelVsVel <- function(leftPos, rightPos, rawAngleDegrees, timeMillis, angularVelThreshRad, smoothingConst){
+#Just kinda does everything
+plotWheelVsVel <- function(leftPos, rightPos, rawAngleDegrees, timeMillis, angularVelThreshRad, smoothingConst, actualWheelbase){
+  #Convert because degrees suuuuck
   rawAngle <- deg2rad(rawAngleDegrees)
   
-  #Smooth values
+  #Smooth values and get velocities
   angular <- smoothDerivative(rawAngle, timeMillis, smoothingConst)
   left <- smoothDerivative(leftPos, timeMillis, smoothingConst)
   right <- smoothDerivative(rightPos, timeMillis, smoothingConst)
@@ -25,44 +30,64 @@ plotWheelVsVel <- function(leftPos, rightPos, rawAngleDegrees, timeMillis, angul
   combined <- cbind(angular, wheelbase, (left+right)/2)
   combinedAngular <- subset(combined, combined[,1] > angularVelThreshRad)
   
-  #Find the mean wheelbase, weighted by angular vel 
+  #Find the mean wheelbase, weighted by angular vel because higher angular vel decreases variance
   avgWheelbase = weighted.mean(x=combinedAngular[,2], w=combinedAngular[,1], na.rm=TRUE)
   
-  #plot angular
+  #plot wheelbase vs angular vel
   plot(x=combinedAngular[,1], y=combinedAngular[,2], xlab="Angular Velocity (rad/sec)", ylab="Effective wheelbase diameter (feet)", main="Effective Wheelbase Diameter vs. Angular Velocity")
   abline(a=avgWheelbase, b=0, col='green')
   
-  #plot linear
+  #plot wheelbase vs linear vel
   plot(x=combinedAngular[,3], y=combinedAngular[,2], xlab="Linear Velocity (feet/sec)", ylab="Effective wheelbase diameter (feet)", main="Effective Wheelbase Diameter vs. Linear Velocity")
   abline(a=avgWheelbase, b=0, col='green')
   
-  #Plot turn radius
+  #Plot wheelbase vs turn radius
   plot(x=combinedAngular[,3]/combinedAngular[,1], y=combinedAngular[,2]-2.0833, xlab="Turn Radius (feet)", ylab="Error in wheelbase diameter (feet)", main="Error in Wheelbase Diameter vs. Turn Radius")
   abline(a=avgWheelbase-2.0833, b=0, col='green')
   
-  sumLeft <- 0
+  #Eli's algorithm
   out <- array(dim=c(length(angular),8))
-  noah <- array(dim=c(length(angular),7))
-  actualWheelbase <- 2.0833
   colnames(out)<-c("X","Y","leftX","leftY","rightX","rightY","time","wheelbase")
   out[1,] <- c(leftPos[1],rightPos[1],NA,NA,NA,NA,timeMillis[1],NA)
-  for(i in 2:length(angular)){
+  
+  #Noah's algorithm
+  noah <- array(dim=c(length(angular),7))
+  colnames(noah) <- c("X","Y","leftX","leftY","rightX","rightY","time")
+  angle <- rawAngle[1]
+  noah[1,] <- c(leftPos[1],rightPos[1],actualWheelbase/2*cos(angle+pi/2), actualWheelbase/2*sin(angle+pi/2), actualWheelbase/2*cos(angle-pi/2), actualWheelbase/2*sin(angle-pi/2),timeMillis[1])
+
+  #Loop through each logged tic, calculating pose iteratively
+  for(i in 2:length(timeMillis)){
+    #Find change in time, in seconds
     deltaTime <- (timeMillis[i] - out[i-1,7])/1000
+    
+    #Directly find change in position and angle
     deltaLeft <- leftPos[i]-leftPos[i-1]
     deltaRight <- rightPos[i]-rightPos[i-1]
     deltaTheta <- rawAngle[i]-rawAngle[i-1]
+    
+    #Get the effective wheelbase for this iteration
     wheelbase <- calcWheelbase(deltaLeft, deltaRight, deltaTheta)
+    
+    #Average
     avgMoved <- (deltaLeft+deltaRight)/2
     
+    #The angle of the movement vector
+    angle <- rawAngle[i-1]-(deltaTheta/2)
+    
     #Eli's approach
-    sumLeft <- sumLeft + deltaLeft
     if (deltaTheta == 0){
-      out[i,] <- c(out[i-1,1]+avgMoved*cos(rawAngle[i]),out[i-1,2]+avgMoved*sin(rawAngle[i]), NA, NA, NA, NA, timeMillis[i],NA)
+      #If we're driving straight, we know the magnitude is just the average of the two sides
+      out[i,] <- c(out[i-1,1]+avgMoved*cos(angle),out[i-1,2]+avgMoved*sin(angle), NA, NA, NA, NA, timeMillis[i],NA)
     } else {
-      angle <- rawAngle[i-1]-(deltaTheta/2)
+      #Magnitude of movement vector is 2*r*sin(deltaTheta/2), but r is just avg/deltaTheta
       mag <- 2*(avgMoved/deltaTheta)*sin(deltaTheta/2)
+      
+      #Vector decomposition
       x <- out[i-1,1]+mag*cos(angle)
       y <- out[i-1,2]+mag*sin(angle)
+      
+      #Only log left and right wheel positions if the angular vel is above threshhold
       if (deltaTheta/deltaTime < angularVelThreshRad){
         out[i,] <- c(x, y, NA,NA,NA,NA, timeMillis[i],NA)
       } else {
@@ -71,6 +96,7 @@ plotWheelVsVel <- function(leftPos, rightPos, rawAngleDegrees, timeMillis, angul
     }
     
     #Noah's approach
+    #Take the side that slipped more and recalculate it from the wheelbase, change in angle, and other side's change
     if (deltaTheta < (deltaLeft - deltaRight) / actualWheelbase) {
       if (deltaLeft > 0) {
         deltaLeft = deltaRight + actualWheelbase * deltaTheta;
@@ -84,26 +110,40 @@ plotWheelVsVel <- function(leftPos, rightPos, rawAngleDegrees, timeMillis, angul
         deltaRight = deltaLeft - actualWheelbase * deltaTheta;
       }
     }
+    
+    #Recalculate average after recalculating one of the sides
     avgMoved <- (deltaLeft+deltaRight)/2
     
+    #If we're driving straight, the magnitude is just the average of the two sides
     if (deltaTheta == 0){
-      noah[i,] <- c(noah[i-1,1]+avgMoved*cos(rawAngle[i]),noah[i-1,2]+avgMoved*sin(rawAngle[i]), NA, NA, NA, NA, timeMillis[i])
+        noah[i,] <- c(noah[i-1,1]+avgMoved*cos(angle),noah[i-1,2]+avgMoved*sin(angle), x+actualWheelbase/2*cos(angle+pi/2), y+actualWheelbase/2*sin(angle+pi/2), x+actualWheelbase/2*cos(angle-pi/2), y+actualWheelbase/2*sin(angle-pi/2), timeMillis[i])
     } else {
-      angle <- rawAngle[i-1]-(deltaTheta/2)
-      mag <- 2*(avgMoved/deltaTheta)*sin(deltaTheta/2)
-      x <- noah[i-1,1]+mag*cos(angle)
-      y <- noah[i-1,2]+mag*sin(angle)
-      if (deltaTheta/deltaTime < angularVelThreshRad){
-        noah[i,] <- c(x, y, NA,NA,NA,NA, timeMillis[i])
-      } else {
-        noah[i,] <- c(x, y, x+wheelbase/2*cos(angle+pi/2), y+wheelbase/2*sin(angle+pi/2), x+wheelbase/2*cos(angle-pi/2), y+wheelbase/2*sin(angle-pi/2), timeMillis[i])
-      }
+        #If the sides moved the same distance but the angle changed, the radius is just the sector length over the angle
+        if (deltaLeft-deltaRight == 0){
+            r <- avgMoved/deltaTheta;
+        } else {
+            #If they moved a different distance, do a more complicated equation (may be the same as the other one, not doing the math yet)
+            r <- actualWheelbase / 2. * (deltaLeft + deltaRight) / (deltaLeft - deltaRight);
+        }
+        mag <- 2. * r * sin(deltaTheta / 2.);
+        
+        #Vector decomposition
+        x <- noah[i-1,1]+mag*cos(angle)
+        y <- noah[i-1,2]+mag*sin(angle)
+        noah[i,] <- c(x, y, x+actualWheelbase/2*cos(angle+pi/2), y+actualWheelbase/2*sin(angle+pi/2), x+actualWheelbase/2*cos(angle-pi/2), y+actualWheelbase/2*sin(angle-pi/2), timeMillis[i])
     }
   }
   
-  plot(out[,1], out[,2], t="l", xlim = c(-5,15), ylim=c(-7,13), xlab="")
+  #Plot Eli results, with fake wheelbase, only showing points within 1 actual wheelbase of the path
+  plot(out[,1], out[,2], t="l", xlim = c(min(out[,1], na.rm = TRUE)-actualWheelbase,max(out[,1],na.rm = TRUE)+actualWheelbase), ylim=c(min(out[,2], na.rm = TRUE)-actualWheelbase,max(out[,2], na.rm=TRUE)+actualWheelbase), xlab="X position (Feet)", ylab="Y position (Feet)", main="Eli's Pose Estimation Algorithm")
   lines(out[,3], out[,4], col="Green")
   lines(out[,5], out[,6], col="Red")
   
-  return(sumLeft)
-}
\ No newline at end of file
+  #Plot Noah results, with real wheelbase
+  plot(noah[,1], noah[,2], t="l", xlim = c(min(noah[,1], noah[,3], noah[,5]),max(noah[,1], noah[,3], noah[,5])), ylim=c(min(noah[,2], noah[,4], noah[,6]),max(noah[,2], noah[,4], noah[,6])), xlab="X position (Feet)", ylab="Y position (Feet)", main="Noah's Pose Estimation Algorithm")
+  #plot(noah[,1],noah[,2],t="l")
+  lines(noah[,3], noah[,4], col="Green")
+  lines(noah[,5], noah[,6], col="Red")
+  
+  return(noah)
+}