Refactored speed calculating in run, minor comments
Refactored speed calculating in run, minor comments

sk413025/carcv,sk413025/carcv,oskopek/carcv,sk413025/carcv,oskopek/carcv,oskopek/carcv,sk413025/carcv,oskopek/carcv,sk413025/carcv,sk413025/carcv,oskopek/carcv,oskopek/carcv