Add comments and change minimal time as a global parameter
Add comments and change minimal time as a global parameter

baptistelabat/robokite,baptistelabat/robokite,baptistelabat/robokite,baptistelabat/robokite,baptistelabat/robokite,baptistelabat/robokite,baptistelabat/robokite,baptistelabat/robokite