diff --git a/Drivers/MotorChannel/Inc/ZP_D_PWMChannel.hpp b/Drivers/MotorChannel/Inc/ZP_D_PWMChannel.hpp
index c6695a56..c6880b66 100644
--- a/Drivers/MotorChannel/Inc/ZP_D_PWMChannel.hpp
+++ b/Drivers/MotorChannel/Inc/ZP_D_PWMChannel.hpp
@@ -8,19 +8,19 @@
 class PWMChannel : public MotorChannel {
     public:
         PWMChannel(TIM_HandleTypeDef* timer,
-					uint16_t timer_channel);
+					uint16_t timerChannel);
 
         void set(uint8_t percent);
     private:
-    	//set to minimum and max amount of counts in a duty cycle
-        uint32_t MIN_SIGNAL;
-        uint32_t MAX_SIGNAL;
-        uint32_t PERIOD_TICKS_;  
-        TIM_HandleTypeDef *TIMER_;     //handle to the timer
-        const uint16_t TIMER_CHANNEL_;   //channel of the timer
+    	// set to minimum and max amount of counts in a duty cycle
+        uint32_t minSignal;
+        uint32_t maxSignal;
+        uint32_t PERIOD_TICKS;
+        TIM_HandleTypeDef *TIMER;     // handle to the timer
+        const uint16_t TIMER_CHANNEL;   // channel of the timer
 
-        const uint32_t CLOCK_FREQUENCY_ = SystemCoreClock;    //system clock frequency
-        const uint16_t DESIRED_FREQUENCY = 50; //PWM frequency in hz
+        const uint32_t CLOCK_FREQUENCY = SystemCoreClock;  // system clock frequency
+        const uint16_t DESIRED_FREQUENCY = 50; // PWM frequency in hz
 };
 
 #endif // ZP_D_PWM_CHANNEL_HPP_
diff --git a/Drivers/MotorChannel/Src/ZP_D_PWMChannel.cpp b/Drivers/MotorChannel/Src/ZP_D_PWMChannel.cpp
index 278cb942..888fa2b7 100644
--- a/Drivers/MotorChannel/Src/ZP_D_PWMChannel.cpp
+++ b/Drivers/MotorChannel/Src/ZP_D_PWMChannel.cpp
@@ -1,29 +1,29 @@
 #include "ZP_D_PWMChannel.hpp"
 
 PWMChannel::PWMChannel(TIM_HandleTypeDef* timer,
-                        uint16_t timer_channel) :
-                        TIMER_(timer),
-                        TIMER_CHANNEL_(timer_channel)
+                        uint16_t timerChannel) :
+                        TIMER(timer),
+                        TIMER_CHANNEL(timerChannel)
 {
-	/*Sets up the PWM, pre-scaler, duty cycle ranges,
+	/* Sets up the PWM, pre-scaler, duty cycle ranges,
 	 * and starts the timer*/
-	PERIOD_TICKS_ = TIMER_->Init.Period;
-	MIN_SIGNAL = PERIOD_TICKS_ * 0.05; // sets counts for 5% duty cycle
-	MAX_SIGNAL = PERIOD_TICKS_ * 0.10; // sets counts for 10% duty cycle
+	PERIOD_TICKS = TIMER->Init.Period;
+	minSignal= PERIOD_TICKS * 0.05; // sets counts for 5% duty cycle
+	maxSignal = PERIOD_TICKS * 0.10; // sets counts for 10% duty cycle
 
-	//Calculate new pre-scaler
-	uint16_t prescaler_ = (CLOCK_FREQUENCY_ / DESIRED_FREQUENCY
-			/ PERIOD_TICKS_) - 1;
+	// Calculate new pre-scaler
+	uint16_t prescaler = (CLOCK_FREQUENCY / DESIRED_FREQUENCY
+			/ PERIOD_TICKS) - 1;
 
-	__HAL_TIM_SET_PRESCALER(TIMER_, prescaler_);
-	HAL_TIM_PWM_Start(TIMER_, TIMER_CHANNEL_);
+	__HAL_TIM_SET_PRESCALER(TIMER, prescaler);
+	HAL_TIM_PWM_Start(TIMER, TIMER_CHANNEL);
 
 
 	isSetup = true;
 }
 
 void PWMChannel::set(uint8_t percent) {
-	/*Sets the duty cycle as a percent between 5 and 10%.
+	/* Sets the duty cycle as a percent between 5 and 10%.
 	 *
 	 * Usage:
 	 * 0% corresponds to a duty cycle of 5%
@@ -32,8 +32,8 @@ void PWMChannel::set(uint8_t percent) {
     if (percent > 100 || !isSetup) {
         return;
     }
-    uint32_t ticks = (percent * (MAX_SIGNAL - MIN_SIGNAL)) / 100 + MIN_SIGNAL;
+    uint32_t ticks = (percent * (maxSignal - minSignal)) / 100 + minSignal;
 
-    __HAL_TIM_SET_COMPARE(TIMER_, TIMER_CHANNEL_, ticks);
+    __HAL_TIM_SET_COMPARE(TIMER, TIMER_CHANNEL, ticks);
 }