diff --git a/common/app/pixy_control.c b/common/app/pixy_control.c
index 5786e7a..c30418d 100644
--- a/common/app/pixy_control.c
+++ b/common/app/pixy_control.c
@@ -21,9 +21,6 @@
 #define REG_PID_KD      (0.001f)
 #define REG_PID_TA      (0.01f)
 
-void int_init(void){  
-    // TODO Init ports and outputs if needed.
-}
 
 // PID controller implementatoin for the y-axis
 int16_t pixy_PID_Y(int16_t x, int16_t w)
diff --git a/common/app/pixy_control.h b/common/app/pixy_control.h
index 3eb5f55..708cac4 100644
--- a/common/app/pixy_control.h
+++ b/common/app/pixy_control.h
@@ -1,14 +1,41 @@
-/* 
- * pixy_control.h
- */
-
-#ifndef _CONTROL_H_
-#define _CONTROL_H_
+#ifndef PIXY_CONTROL_H_
+#define PIXY_CONTROL_H_
 
 #include<stdint.h>
 
-void int_init(void);
+/**
+ * @addtogroup app
+ */
+/*@{*/
+
+/**
+ * @defgroup pixy_control Pixy Control Helper
+ * A collection of helper functions that contain PID Control code used for object tracking.
+ */
+/*@}*/
+
+
+/**
+ * @addtogroup pixy_control
+ */
+/*@{*/
+
+/**
+ * Execute one step of PID regulation for the Y-servo.
+ * @param x desired value (e.g. current y-position of the biggest block)
+ * @param w actual value (e.g desired y-position)
+ * @return The offset which needs to be added to the Y-Servo position
+ */
 int16_t pixy_PID_Y(int16_t x, int16_t w);
+
+/**
+ * Execute one step of PID regulation for the X-servo.
+ * @param x desired value (e.g. current x-position of the biggest block)
+ * @param w actual value (e.g desired x-position)
+ * @return The offset which needs to be added to the X-Servo position
+ */
 int16_t pixy_PID_X(int16_t x, int16_t w);
 
-#endif
+/*@}*/
+
+#endif /* PIXY_CONTROL_H_ */
diff --git a/common/app/pixy_helper.c b/common/app/pixy_frame.c
similarity index 99%
rename from common/app/pixy_helper.c
rename to common/app/pixy_frame.c
index d137d71..8c7dc0d 100644
--- a/common/app/pixy_helper.c
+++ b/common/app/pixy_frame.c
@@ -1,4 +1,4 @@
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 #include "pixy.h"
 #include "tft.h"
 #include <stdlib.h>
diff --git a/common/app/pixy_helper.h b/common/app/pixy_frame.h
similarity index 87%
rename from common/app/pixy_helper.h
rename to common/app/pixy_frame.h
index 7f7cd40..5f70b42 100644
--- a/common/app/pixy_helper.h
+++ b/common/app/pixy_frame.h
@@ -1,10 +1,30 @@
-#ifndef PIXY_HELPER_H
-#define PIXY_HELPER_H
+#ifndef PIXY_FRAME_H
+#define PIXY_FRAME_H
 
 #include <stdbool.h>
 #include <stdint.h>
 #include "filesystem.h"
 
+
+/**
+ * @addtogroup app
+ */
+/*@{*/
+
+/**
+ * @defgroup pixy_helper Pixy Frame Helper
+ * A collection of helper functions that allow receiving and rendering a frame from pixy onto the display.
+ * Furthermore you can select a color in a frame, to use for tracking.
+ */
+/*@}*/
+
+
+/**
+ * @addtogroup pixy_helper
+ */
+/*@{*/
+
+
 /**
  * Receives a fullsized frame from pixy and display's it on the display with the topleft corner at (x,y)
  * @param x The x-Coordinate of the top left corner
@@ -56,4 +76,6 @@ int pixy_save_cropped_frame(FILE_HANDLE* handle, uint16_t xoffset, uint16_t yoff
  */
 int pixy_cc_set_region(uint8_t signum, uint16_t xoffset, uint16_t yoffset, uint16_t width, uint16_t height);
 
-#endif /* PIXY_HELPER_H */
+/*@}*/
+
+#endif /* PIXY_FRAME_H */
diff --git a/common/app/screen_photomode.c b/common/app/screen_photomode.c
index eb41ed5..01232f4 100644
--- a/common/app/screen_photomode.c
+++ b/common/app/screen_photomode.c
@@ -5,7 +5,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 
 static bool pixy_connected = false; //Whether or not the pixy cam is currently connected
 
diff --git a/common/app/screen_photomode_save.c b/common/app/screen_photomode_save.c
index d05c4c8..e00f8dd 100644
--- a/common/app/screen_photomode_save.c
+++ b/common/app/screen_photomode_save.c
@@ -4,7 +4,7 @@
 #include "tft.h"
 #include "touch.h"
 #include "pixy.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 #include <stdlib.h>
 #include <string.h>
 
diff --git a/common/app/screen_pixytest.c b/common/app/screen_pixytest.c
index 05b5402..8b7b4cd 100644
--- a/common/app/screen_pixytest.c
+++ b/common/app/screen_pixytest.c
@@ -5,7 +5,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 
 static volatile enum {detecting, idle,update_servos, update_ledcolor, update_ledcurrent} state; //Current state of the screen state machine
 
diff --git a/common/app/screen_tracking.c b/common/app/screen_tracking.c
index 508c8b3..cf6af59 100644
--- a/common/app/screen_tracking.c
+++ b/common/app/screen_tracking.c
@@ -6,7 +6,7 @@
 #include "touch.h"
 #include "pixy.h"
 #include "system.h"
-#include "pixy_helper.h"
+#include "pixy_frame.h"
 
 static BUTTON_STRUCT b_back; //Button to navigate back
 static BUTTON_STRUCT b_select; //Button to start the color region selection
diff --git a/doc/docu.odt b/doc/docu.odt
index 62b1b91..7eabda7 100644
Binary files a/doc/docu.odt and b/doc/docu.odt differ