diff --git a/src/lab2.cpp b/src/lab2.cpp
index ffbf59b..0194b58 100644
--- a/src/lab2.cpp
+++ b/src/lab2.cpp
@@ -1,42 +1,26 @@
-/// This program takes the coordinates of the turtlesim robot as input
-/// and outputs a velocity command as a Twist message. The velocity command
-/// will be calculated so as to get the turtlesim robot to move to a goal
-/// x coordinate that can be any number from 0 to 11.
-
-#include <cstdlib> // Use for the absolute value method abs()
-#include <iostream> // Enables command line input and output
-
-#include "ros/ros.h" // Necessary header files for ROS
-#include "geometry_msgs/Twist.h" // Twist messages (linear & angular velocity)
-#include "geometry_msgs/Pose2D.h" // x, y position and theta orientation
-#include "turtlesim/Pose.h" // x, y, theta, linear & angular velocity
-
-// Remove the need to use std:: prefix
+#include <cstdlib> 
+#include <iostream> 
+#include "ros/ros.h"
+#include "geometry_msgs/Twist.h" 
+#include "geometry_msgs/Pose2D.h"
+#include "turtlesim/Pose.h" 
 using namespace std;
 
-// Key variable declarations
-geometry_msgs::Twist velCommand; // Linear and angular velocity in m/s
-geometry_msgs::Pose2D current; // Current x, y, and theta
-geometry_msgs::Pose2D desired; // Desired x, y, and theta
 
-// Goal x-value, which can be any number from 0 to 11 (inclusive)
+geometry_msgs::Twist velCommand;
+geometry_msgs::Pose2D current; 
+geometry_msgs::Pose2D desired;
 const double GOAL = 1.3;
 
-// The gain K, which is used to calculate the linear velocity
 const double K_l = 1.0;
 
-// The distance threshold in meters that will determine when
-// the turtlesim robot successfully reaches the goal.
 const double distanceTolerance = 0.1;
 
-// Initialized variables and take care of other setup tasks
 void setup() {
 
-  // Desired x goal coordinate
+  
   desired.x = GOAL;
 
-  // Initialize the Twist message.
-  // Initial linear and angular velocities are 0 m/s and rad/s, respectively.
   velCommand.linear.x = 0.0;
   velCommand.linear.y = 0.0;
   velCommand.linear.z = 0.0;
@@ -45,20 +29,13 @@ void setup() {
   velCommand.angular.z = 0.0;
 }
 
-// Get the distance between the current x coordinate and
-// the desired x coordinate.
 double getDistanceToGoal() {
   return desired.x - current.x;
 }
 
-// If we haven't yet reached the goal, set the velocity value.
-// Otherwise, stop the robot.
 void setVelocity() {
   if (abs(getDistanceToGoal()) > distanceTolerance) {
 
-    // The magnitude of the robot's velocity is directly
-    // proportional to the distance the robot is from the
-    // goal.
     velCommand.linear.x = K_l * getDistanceToGoal();
   }
   else {
@@ -67,8 +44,6 @@ void setVelocity() {
   }
 }
 
-// This callback function updates the current position and
-// orientation of the robot.
 void updatePose(const turtlesim::PoseConstPtr &currentPose) {
   current.x = currentPose->x;
   current.y = currentPose->y;
@@ -79,53 +54,43 @@ int main(int argc, char **argv) {
 
   setup();
 
-  // Initiate ROS
+  
   ros::init(argc, argv, "go_to_goal_x");
 
-  // Create the main access point to communicate with ROS
+  
   ros::NodeHandle node;
 
-  // Subscribe to the robot's pose
-  // Hold no messages in the queue. Automatically throw away
-  // any messages that are received that are not able to be
-  // processed quickly enough.
-  // Every time a new pose is received, update the robot's pose.
   ros::Subscriber currentPoseSub =
     node.subscribe("turtle1/pose", 0, updatePose);
 
-  // Publish velocity commands to a topic.
-  // Hold no messages in the queue. Automatically throw away
-  // any messages that are received that are not able to be
-  // processed quickly enough.
+  
   ros::Publisher velocityPub =
     node.advertise<geometry_msgs::Twist>("turtle1/cmd_vel", 0);
 
-  // Specify a frequency that want the while loop below to loop at
-  // In this case, we want to loop 10 cycles per second
+ 
   ros::Rate loop_rate(10);
 
-  // Keep running the while loop below as long as the ROS Master is active.
+ 
   while (ros::ok()) {
 
-    // Here is where we call the callbacks that need to be called.
+    
     ros::spinOnce();
 
-    // After we call the callback function to update the robot's pose, we
-    // set the velocity values for the robot.
     setVelocity();
 
-    // Publish the velocity command to the ROS topic
+    
     velocityPub.publish(velCommand);
 
-    // Print the output to the console
+    
     cout << "Current x = " << current.x << endl
          << "Desired x = " << desired.x <<  endl
          << "Distance to Goal = " << getDistanceToGoal() << " m" << endl
-         << "Linear Velocity (x) = " << velCommand.linear.x << " m/s" << endl
+    
+
+     << "Linear Velocity (x) = " << velCommand.linear.x << " m/s" << endl
          << endl;
 
-    // Sleep as long as we need to to make sure that we have a frequency of
-    // 10Hz
+    
     loop_rate.sleep();
   }