added comments

src/C++/Driver/src/KobukiParser.cpp

@@ -1,7 +1,8 @@
 #include "KobukiParser.h"
 
 int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
-    int rtrnvalue = checkChecksum(data);
+    //check if the checksum is correct
+    int rtrnvalue = CKobuki.checkChecksum(data);
     if (rtrnvalue != 0)
         return -2;
 
@@ -62,7 +63,7 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
                 }
                 break;
             default:
-                checkedValue += length + 2; // Skip unknown data block
+                checkedValue += length + 2; // Skip data block if nothing matches
                 break;
         }
     }

src/C++/Driver/src/KobukiParser.h

@@ -1,7 +1,8 @@
-#ifndef KOBUKIPARSER_H
+#ifndef KOBUKIPARSER_H //so that class cant be loaded twice
 #define KOBUKIPARSER_H
 
 #include <vector>
+#include "CKobuki.h"
 
 struct TRawGyroData {
     int x, y, z;
@@ -26,8 +27,6 @@ struct TKobukiData {
     int wheelCurrentLeft, wheelCurrentRight;
     int digitalInput, analogInputCh0, analogInputCh1, analogInputCh2, analogInputCh3;
     int frameId;
-    std::vector<TRawGyroData> gyroData;
-    TExtraInfo extraInfo;
 };
 
 class KobukiParser {
@@ -48,4 +47,4 @@ private:
     int parseUDIDData(TKobukiData &output, unsigned char *data, int &checkedValue);
 };
 
-#endif // KOBUKIPARSER_H
+#endif