diff --git a/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py b/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py
index 627dbb0..8689c01 100755
--- a/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py
+++ b/rb_ws/src/buggy/scripts/serial/ros_to_bnyahaj.py
@@ -1,98 +1,126 @@
 #!/usr/bin/env python3
 
-import threading
-from threading import Lock
-
-import argparse
 import sys
-#Allows import of world and pose from auton directory
+
+# Allows import of world and pose from auton directory
 sys.path.append("/rb_ws/src/buggy/scripts/auton")
+
+import argparse
+from threading import Lock
+import threading
 from world import World
 from pose import Pose
-
-
 import rospy
-#Ros Message Imports
 from std_msgs.msg import Float64, Bool, Int8, UInt8
 from nav_msgs.msg import Odometry as ROSOdom
-
 from host_comm import *
 
-"""
-Translates the output from bnyahaj serial (interpreted from host_comm) to ros topics and vice versa.
 
-Performs reading (from Bnya Serial) and writing (from Ros Topics) on different python threads, so 
-be careful of multithreading synchronizaiton issues.
+# Ros Message Imports
 
-SC:
-(ROS) Self Steering topic --> (Bnyahaj) Stepper Motor
-(Bnyahaj) NAND Odom --> (ROS) NAND Odom topic 
 
-NAND:
-(ROS) Self Steering --> (Bnyahaj) Stepper Motor
-(Bnyahaj) Self Odom from UKF --> (ROS) NAND Odom topic
-"""
 class Translator:
     """
-    self_name: Buggy namespace
-    other_name: Only requried by SC for passing buggy namespace
-    teensy_name: required for communication, different for SC and NAND
-
-    Initializes the subscribers, rates, and ros topics (including debug topics)
+    Translates the output from bnyahaj serial (interpreted from host_comm) to ros topics and vice versa.
+    Performs reading (from Bnya Serial) and writing (from Ros Topics) on different python threads, so
+    be careful of multithreading synchronizaiton issues.
+    SC:
+    (ROS) Self Steering topic --> (Bnyahaj) Stepper Motor
+    (Bnyahaj) NAND Odom --> (ROS) NAND Odom topic
+
+    NAND:
+    (ROS) Self Steering --> (Bnyahaj) Stepper Motor
+    (Bnyahaj) Self Odom from UKF --> (ROS) NAND Odom topic
     """
+
     def __init__(self, self_name, other_name, teensy_name):
+        """
+        self_name: Buggy namespace
+        other_name: Only requried by SC for passing buggy namespace
+        teensy_name: required for communication, different for SC and NAND
+
+        Initializes the subscribers, rates, and ros topics (including debug topics)
+        """
         self.comms = Comms("/dev/" + teensy_name)
         self.steer_angle = 0
         self.alarm = 0
         self.fresh_steer = False
         self.lock = Lock()
 
-        rospy.Subscriber(self_name + "/buggy/input/steering", Float64, self.set_steering)
+        rospy.Subscriber(
+            self_name + "/buggy/input/steering", Float64, self.set_steering
+        )
         rospy.Subscriber(self_name + "/debug/sanity_warning", Int8, self.set_alarm)
 
-        #ISSUE: https://github.com/CMU-Robotics-Club/RoboBuggy2/issues/83
+        # ISSUE: https://github.com/CMU-Robotics-Club/RoboBuggy2/issues/83
         if other_name is None and self_name == "NAND":
-            self.odom_publisher = rospy.Publisher(self_name + "/nav/odom", ROSOdom, queue_size=1)
+            self.odom_publisher = rospy.Publisher(
+                self_name + "/nav/odom", ROSOdom, queue_size=1
+            )
         else:
-            self.odom_publisher = rospy.Publisher(other_name + "/nav/odom", ROSOdom, queue_size=1)
+            self.odom_publisher = rospy.Publisher(
+                other_name + "/nav/odom", ROSOdom, queue_size=1
+            )
 
         # upper bound of steering update rate, make sure auton sends slower than 500 Hz or update / 2ms
         self.steer_send_rate = rospy.Rate(500)
         # upper bound of reading data from Bnyahaj Serial, at 1ms
         self.read_rate = rospy.Rate(1000)
 
-        # ISSUE: https://github.com/CMU-Robotics-Club/RoboBuggy2/issues/90 
-        self.rc_steering_angle_publisher = rospy.Publisher(self_name + "/buggy/debug/rc_steering_angle", Float64, queue_size=1)
-        self.steering_angle_publisher = rospy.Publisher(self_name + "/buggy/debug/steering_angle", Float64, queue_size=1)
-        self.battery_voltage_publisher = rospy.Publisher(self_name + "/buggy/debug/battery_voltage", Float64, queue_size=1)
-        self.operator_ready_publisher = rospy.Publisher(self_name + "/buggy/debug/operator_ready", Bool, queue_size=1)
-        self.steering_alarm_publisher = rospy.Publisher(self_name + "/buggy/debug/steering_alarm", Bool, queue_size=1)
-        self.brake_status_publisher = rospy.Publisher(self_name + "/buggy/debug/brake_status", Bool, queue_size=1)
-        self.use_auton_steer_publisher = rospy.Publisher(self_name + "/buggy/debug/use_auton_steer", Bool, queue_size=1)
-        self.rc_uplink_qual_publisher = rospy.Publisher(self_name + "/buggy/debug/rc_uplink_quality", UInt8, queue_size=1)
-        self.nand_fix_publisher = rospy.Publisher(self_name + "/buggy/debug/nand_fix", UInt8, queue_size=1)
-
-    #alarm ros topic reader, locked so that only one of the setters runs at once
+        # ISSUE: https://github.com/CMU-Robotics-Club/RoboBuggy2/issues/90
+        self.rc_steering_angle_publisher = rospy.Publisher(
+            self_name + "/buggy/debug/rc_steering_angle", Float64, queue_size=1
+        )
+        self.steering_angle_publisher = rospy.Publisher(
+            self_name + "/buggy/debug/steering_angle", Float64, queue_size=1
+        )
+        self.battery_voltage_publisher = rospy.Publisher(
+            self_name + "/buggy/debug/battery_voltage", Float64, queue_size=1
+        )
+        self.operator_ready_publisher = rospy.Publisher(
+            self_name + "/buggy/debug/operator_ready", Bool, queue_size=1
+        )
+        self.steering_alarm_publisher = rospy.Publisher(
+            self_name + "/buggy/debug/steering_alarm", Bool, queue_size=1
+        )
+        self.brake_status_publisher = rospy.Publisher(
+            self_name + "/buggy/debug/brake_status", Bool, queue_size=1
+        )
+        self.use_auton_steer_publisher = rospy.Publisher(
+            self_name + "/buggy/debug/use_auton_steer", Bool, queue_size=1
+        )
+        self.rc_uplink_qual_publisher = rospy.Publisher(
+            self_name + "/buggy/debug/rc_uplink_quality", UInt8, queue_size=1
+        )
+        self.nand_fix_publisher = rospy.Publisher(
+            self_name + "/buggy/debug/nand_fix", UInt8, queue_size=1
+        )
+
     def set_alarm(self, msg):
+        """
+        alarm ros topic reader, locked so that only one of the setters runs at once
+        """
         with self.lock:
             self.alarm = msg.data
 
-    #Steering Angle Updater, updates the steering angle locally if updated on ros stopic
     def set_steering(self, msg):
+        """
+        Steering Angle Updater, updates the steering angle locally if updated on ros stopic
+        """
         rospy.loginfo(f"Read steeering angle of: {msg.data}")
-        #print("Steering angle: " + str(msg.data))
+        # print("Steering angle: " + str(msg.data))
         # print("SET STEERING: " + str(msg.data))
         with self.lock:
             self.steer_angle = msg.data
             self.fresh_steer = True
 
-    """
-    Sends ROS Topics to bnayhaj serial, only sends a steering angle when we receive a fresh one
-    Will send steering and alarm node. 
-    TODO: Does alarm node exist for NAND? 
-    """
     def writer_thread(self):
-        rospy.loginfo('Starting sending alarm and steering to teensy!')
+        """
+        Sends ROS Topics to bnayhaj serial, only sends a steering angle when we receive a fresh one
+        Will send steering and alarm node.
+        TODO: Does alarm node exist for NAND?
+        """
+        rospy.loginfo("Starting sending alarm and steering to teensy!")
         while True:
             if self.fresh_steer:
                 with self.lock:
@@ -104,20 +132,20 @@ def writer_thread(self):
 
             self.steer_send_rate.sleep()
 
-    """
-    Reads three different types of packets, that should have better ways of differntiating
-    Odometry -> (SC) NAND Odomotery
-    BnyaTelemetry -> (NAND) Self Odom
-    tuple -> (SC, maybe NAND?) Debug Info 
-    """
     def reader_thread(self):
-        rospy.loginfo('Starting reading odom from teensy!')
+        """
+        Reads three different types of packets, that should have better ways of differntiating
+        Odometry -> (SC) NAND Odomotery
+        BnyaTelemetry -> (NAND) Self Odom
+        tuple -> (SC, maybe NAND?) Debug Info
+        """
+        rospy.loginfo("Starting reading odom from teensy!")
         while True:
             packet = self.comms.read_packet()
 
             if isinstance(packet, Odometry):
                 rospy.logdebug("packet" + str(packet))
-                #Publish to odom topic x and y coord
+                # Publish to odom topic x and y coord
                 odom = ROSOdom()
                 # convert to long lat
                 try:
@@ -126,13 +154,15 @@ def reader_thread(self):
                     odom.pose.pose.position.y = lat
                     self.odom_publisher.publish(odom)
                 except Exception as e:
-                    rospy.logwarn("Unable to convert other buggy position to lon lat" + str(e))
+                    rospy.logwarn(
+                        "Unable to convert other buggy position to lon lat" + str(e)
+                    )
 
             elif isinstance(packet, BnyaTelemetry):
                 rospy.logdebug("packet" + str(packet))
                 odom = ROSOdom()
 
-                #TODO: Not mock rolled accurately (Needs to be Fact Checked)
+                # TODO: Not mock rolled accurately (Needs to be Fact Checked)
                 try:
                     lat, long = World.utm_to_gps(packet.y, packet.x)
                     odom.pose.pose.position.x = long
@@ -153,9 +183,13 @@ def reader_thread(self):
                     odom.twist.twist.linear.x = speed
                     self.odom_publisher.publish(odom)
                 except Exception as e:
-                    rospy.logwarn("Unable to convert other buggy position to lon lat" + str(e))
+                    rospy.logwarn(
+                        "Unable to convert other buggy position to lon lat" + str(e)
+                    )
 
-            elif isinstance(packet, tuple): #Are there any other packet that is a tuple
+            elif isinstance(
+                packet, tuple
+            ):  # Are there any other packet that is a tuple
                 self.rc_steering_angle_publisher.publish(Float64(packet[0]))
                 self.steering_angle_publisher.publish(Float64(packet[1]))
                 self.battery_voltage_publisher.publish(Float64(packet[2]))
@@ -168,8 +202,10 @@ def reader_thread(self):
 
             self.read_rate.sleep()
 
-    # Initialies the reader and writer thread, should theoretically never finish as there are while loops
     def loop(self):
+        """
+        Initialies the reader and writer thread, should theoretically never finish as there are while loops
+        """
         p1 = threading.Thread(target=self.writer_thread)
         p2 = threading.Thread(target=self.reader_thread)
 
@@ -179,22 +215,35 @@ def loop(self):
         p1.join()
         p2.join()
 
+
 # Initializes ros nodes, using self and other name
-#other name is not requires, and if not submitted, use NONE
+# other name is not requires, and if not submitted, use NONE
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
-    parser.add_argument("--self_name", type=str, help="name of ego-buggy", required=True)
-    parser.add_argument("--other_name", type=str, help="name of other buggy", required=False, default=None)
-    parser.add_argument("--teensy_name", type=str, help="name of teensy port", required=True)
+    parser.add_argument(
+        "--self_name", type=str, help="name of ego-buggy", required=True
+    )
+    parser.add_argument(
+        "--other_name",
+        type=str,
+        help="name of other buggy",
+        required=False,
+        default=None,
+    )
+    parser.add_argument(
+        "--teensy_name", type=str, help="name of teensy port", required=True
+    )
     args, _ = parser.parse_known_args()
     self_name = args.self_name
     other_name = args.other_name
     teensy_name = args.teensy_name
 
     rospy.init_node("ros_bnyahaj")
-    if self_name == "SC" and other_name == None:
-        rospy.loerr("Not reading NAND Odometry messages, double check roslaunch files for ros_to_bnyahaj")
-    elif other_name == None:
+    if self_name == "SC" and other_name is None:
+        rospy.loerr(
+            "Not reading NAND Odometry messages, double check roslaunch files for ros_to_bnyahaj"
+        )
+    elif other_name is None:
         rospy.loginfo("No other name passed in, presuming that this is NAND ")
     translate = Translator(self_name, other_name, teensy_name)
-    translate.loop()
\ No newline at end of file
+    translate.loop()