diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index b4a71ec..7fa91b9 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -6,33 +6,30 @@
 struct GearLogging {
   // Which controller is being used.
   int8_t controller_index;
-  // Whether the left loop is the high-gear one.
+
+  // Whether each loop for the drivetrain sides is the high-gear one.
   bool left_loop_high;
-  // Whether the right loop is the high-gear one.
   bool right_loop_high;
-  // The state of the left shifter.
+
+  // The states of each drivetrain shifter.
   int8_t left_state;
-  // The state of the right shifter.
   int8_t right_state;
 };
 
 // For logging information about the state of the shifters.
 struct CIMLogging {
-  // Whether the code thinks the left side is currently in gear.
+  // Whether the code thinks each drivetrain side is currently in gear.
   bool left_in_gear;
-  // Whether the code thinks the right side is currently in gear.
   bool right_in_gear;
-  // The velocity in rad/s (positive forward) the code thinks the left motor
-  // is currently spinning at.
+
+  // The angular velocities (in rad/s, positive forward) the code thinks motors
+  // on each side of the drivetrain are moving at.
   double left_motor_speed;
-  // The velocity in rad/s (positive forward) the code thinks the right motor
-  // is currently spinning at.
   double right_motor_speed;
-  // The velocity estimate for the left side of the robot in m/s (positive
-  // forward) used for shifting.
+
+  // The velocity estimates for each drivetrain side of the robot (in m/s,
+  // positive forward) that can be used for shifting.
   double left_velocity;
-  // The velocity estimate for the right side of the robot in m/s (positive
-  // forward) used for shifting.
   double right_velocity;
 };
 
@@ -43,43 +40,46 @@
     // Position of the steering wheel (positive = turning left when going
     // forwards).
     double steering;
+
     // Position of the throttle (positive forwards).
     double throttle;
+
     // True to shift into high, false to shift into low.
     bool highgear;
+
     // True to activate quickturn.
     bool quickturn;
+
     // True to have the closed-loop controller take over.
     bool control_loop_driving;
-    // Position goal for the left side in meters when the closed-loop controller
-    // is active.
+
+    // Position goals for each drivetrain side (in meters) when the
+    // closed-loop controller is active.
     double left_goal;
-    // Velocity goal for the left side in m/s when the closed-loop controller
-    // is active.
-    double left_velocity_goal;
-    // Position goal for the right side in meters when the closed-loop
-    // controller is active.
     double right_goal;
-    // Velocity goal for the right side in m/s when the closed-loop controller
-    // is active.
+
+    // Velocity goal for each drivetrain side (in m/s) when the closed-loop
+    // controller is active.
+    double left_velocity_goal;
     double right_velocity_goal;
   };
 
   message Position {
-    // Relative position of the left side in meters.
+    // Relative position of each drivetrain side (in meters).
     double left_encoder;
-    // Relative position of the right side in meters.
     double right_encoder;
-    // The speed in m/s of the left side from the most recent encoder pulse,
-    // or 0 if there was no edge within the last 5ms.
+
+    // The speed in m/s of each drivetrain side from the most recent encoder
+    // pulse, or 0 if there was no edge within the last 5ms.
     double left_speed;
-    // The speed in m/s of the right side from the most recent encoder pulse,
-    // or 0 if there was no edge within the last 5ms.
     double right_speed;
-    // Position of the left shifter (smaller = towards low gear).
+
+    // Position of each drivetrain shifter, scaled from 0.0 to 1.0 where smaller
+    // is towards low gear.
     double left_shifter_position;
-    // Position of the right shifter (smaller = towards low gear).
     double right_shifter_position;
+
+    // Raw analog voltages of each shifter hall effect for logging purposes.
     double low_left_hall;
     double high_left_hall;
     double low_right_hall;
@@ -87,32 +87,31 @@
   };
 
   message Output {
-    // Voltage to send to the left motor(s).
+    // Voltage to send to motor(s) on either side of the drivetrain.
     double left_voltage;
-    // Voltage to send to the right motor(s).
     double right_voltage;
-    // True to set the left shifter piston for high gear.
+
+    // Whether to set each shifter piston to high gear.
     bool left_high;
-    // True to set the right shifter piston for high gear.
     bool right_high;
   };
 
   message Status {
     // Estimated speed of the center of the robot in m/s (positive forwards).
     double robot_speed;
-    // Estimated relative position of the left side in meters.
+
+    // Estimated relative position of each drivetrain side (in meters).
     double filtered_left_position;
-    // Estimated relative position of the right side in meters.
     double filtered_right_position;
-    // Estimated velocity of the left side in m/s.
+
+    // Estimated velocity of each drivetrain side (in m/s).
     double filtered_left_velocity;
-    // Estimated velocity of the left side in m/s.
     double filtered_right_velocity;
 
-    // The voltage we wanted to send to the left side last cycle.
+    // The voltage we wanted to send to each drivetrain side last cycle.
     double uncapped_left_voltage;
-    // The voltage we wanted to send to the right side last cycle.
     double uncapped_right_voltage;
+
     // True if the output voltage was capped last cycle.
     bool output_was_capped;
   };