diff --git a/src/anchor_pkg/anchor_pkg/anchor_node.py b/src/anchor_pkg/anchor_pkg/anchor_node.py
index cf0486a..aa46fdb 100644
--- a/src/anchor_pkg/anchor_pkg/anchor_node.py
+++ b/src/anchor_pkg/anchor_pkg/anchor_node.py
@@ -49,9 +49,9 @@ class SerialRelay(Node):
         self.fromvic_arm_pub_ = self.create_publisher(VicCAN, '/anchor/from_vic/arm', 20)
         self.fromvic_bio_pub_ = self.create_publisher(VicCAN, '/anchor/from_vic/bio', 20)
 
-        self.mock_mcu_sub_ = self.create_subscription(String, '/anchor/from_vic/mock_mcu', self.relay_mock_fromvic, 20)
-        self.tovic_sub_ = self.create_subscription(VicCAN, '/anchor/to_vic/relay', self.relay_tovic, 20)
-        self.tovic_debug_sub_ = self.create_subscription(String, '/anchor/to_vic/relay_string', self.send_cmd, 20)
+        self.mock_mcu_sub_ = self.create_subscription(String, '/anchor/from_vic/mock_mcu', self.on_mock_fromvic, 20)
+        self.tovic_sub_ = self.create_subscription(VicCAN, '/anchor/to_vic/relay', self.on_relay_tovic_viccan, 20)
+        self.tovic_debug_sub_ = self.create_subscription(String, '/anchor/to_vic/relay_string', self.on_relay_tovic_string, 20)
 
 
         # Create publishers 
@@ -62,7 +62,7 @@ class SerialRelay(Node):
         self.debug_pub = self.create_publisher(String, '/anchor/debug', 10)
 
         # Create a subscriber 
-        self.relay_sub = self.create_subscription(String, '/anchor/relay', self.send_cmd, 10)
+        self.relay_sub = self.create_subscription(String, '/anchor/relay', self.on_relay_tovic_string, 10)
 
         # Loop through all serial devices on the computer to check for the MCU
         self.port = None
@@ -111,6 +111,7 @@ class SerialRelay(Node):
             sys.exit(0)
 
     def read_MCU(self):
+        """ Check the USB serial port for new data from the MCU, and publish string to appropriate topics """
         try:
             output = str(self.ser.readline(), "utf8")
             
@@ -151,12 +152,14 @@ class SerialRelay(Node):
             # exit(1)
 
 
-    def relay_mock_fromvic(self, msg: String):
+    def on_mock_fromvic(self, msg: String):
+        """ For testing without an actual MCU, publish strings here as if they came from an MCU """
         # self.get_logger().info(f"Got command from mock MCU: {msg}")
         self.relay_fromvic(msg.data)
 
 
-    def relay_tovic(self, msg: VicCAN):
+    def on_relay_tovic_viccan(self, msg: VicCAN):
+        """ Relay a VicCAN message to the MCU """
         output: str = f"can_relay_tovic,{msg.mcu_name},{msg.command_id}"
         for num in msg.data:
             output += f",{round(num, 7)}"  # limit to 7 decimal places
@@ -165,6 +168,7 @@ class SerialRelay(Node):
         self.ser.write(bytes(output, "utf8"))
 
     def relay_fromvic(self, msg: str):
+        """ Relay a string message from the MCU to the appropriate VicCAN topic """
         self.fromvic_debug_pub_.publish(String(data=msg))
         parts = msg.strip().split(",")
         if len(parts) < 3 or parts[0] != "can_relay_fromvic":
@@ -186,7 +190,8 @@ class SerialRelay(Node):
             self.fromvic_bio_pub_.publish(output)
 
 
-    def send_cmd(self, msg: String):
+    def on_relay_tovic_string(self, msg: String):
+        """ Relay a raw string message to the MCU for debugging """
         message = msg.data
         #self.get_logger().info(f"Sending command to MCU: {msg}")
         self.ser.write(bytes(message, "utf8"))
diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py
index b4c23a3..df549f5 100755
--- a/src/headless_pkg/src/headless_node.py
+++ b/src/headless_pkg/src/headless_node.py
@@ -50,7 +50,6 @@ class Headless(Node):
         pygame.joystick.init()
 
         # Wait for a gamepad to be connected
-        self.gamepad = None
         print("Waiting for gamepad connection...")
         while pygame.joystick.get_count() == 0:
             # Process any pygame events to keep it responsive
@@ -99,6 +98,7 @@ class Headless(Node):
             sys.exit(0)
 
     def send_controls(self):
+        """ Read the gamepad state and publish control messages """
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
                 pygame.quit()
@@ -116,10 +116,6 @@ class Headless(Node):
             pygame.quit()
             sys.exit(0)
 
-        # Make intellisense STFU
-        if self.gamepad == None:
-            return
-
 
         new_ctrl_mode = self.ctrl_mode  # if "" then inequality will always be true
 
@@ -274,6 +270,7 @@ class Headless(Node):
 
 
 def deadzone(value: float, threshold=0.05) -> float:
+    """ Apply a deadzone to a joystick input so the motors don't sound angry """
     if abs(value) < threshold:
         return 0
     return value