Revert "Starting on documenting this."
Revert "Starting on documenting this."

This reverts commit c4091af681373885647e2f0f364990bee1588636.

petrocc/traffic_control,petrocc/traffic_control,petrocc/traffic_control,petrocc/traffic_control,petrocc/traffic_control,petrocc/traffic_control,petrocc/traffic_control,petrocc/traffic_control,petrocc/traffic_control,petrocc/traffic_control