run tidy check and added comments
run tidy check and added comments

KiChjang/servo,KiChjang/servo,KiChjang/servo,splav/servo,KiChjang/servo,KiChjang/servo,splav/servo,splav/servo,DominoTree/servo,splav/servo,DominoTree/servo,DominoTree/servo,DominoTree/servo,KiChjang/servo,splav/servo,KiChjang/servo,DominoTree/servo,splav/servo,DominoTree/servo,DominoTree/servo,KiChjang/servo,KiChjang/servo,DominoTree/servo,DominoTree/servo,splav/servo,splav/servo,splav/servo,splav/servo,DominoTree/servo,KiChjang/servo