Added some comments to MegaRobogaiaPololu sketch

README.md

@@ -182,7 +182,7 @@ The *sensorstate\_rate* determines how often to publish an aggregated
 list of all sensor readings.  Each sensor also publishes on its own
 topic and rate.
 
-The base\_controller\_rate determines how often to publish odometry readings.
+The *base\_controller\_rate* determines how often to publish odometry readings.
 
 _Defining Sensors_
 
@@ -198,7 +198,7 @@ second (or even once every 2 seconds: rate=0.5), whereas a sonar
 sensor might be polled at 20 times per second.  The *type* must be one
 of those listed (case sensitive!).  The default *direction* is input so
 to define an output pin, set the direction explicitly to output.  In
-the example above, the Arduino LED (pin 13) will be blinked on and off
+the example above, the Arduino LED (pin 13) will be turned on and off
 at a rate of 2 times per second.
 
 _Setting Drivetrain and PID Parameters_

ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/diff_controller.h

@@ -1,5 +1,8 @@
-/* Functions and type-defs for PID control.  Take mostly from Mike Ferguson's
-   ArbotiX code.
+/* Functions and type-defs for PID control.
+
+   Taken mostly from Mike Ferguson's ArbotiX code which lives at:
+   
+   http://vanadium-ros-pkg.googlecode.com/svn/trunk/arbotix/
 */
 
 /* PID setpoint info For a Motor */

ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/servos.h

@@ -1,5 +1,5 @@
 /* Define the attachment of any servos here.
-   The example shows one servo attached on pin 11.
+   The example shows two servos attached on pins 3 and 6.
 */
 
 #define N_SERVOS 2