diff --git a/main.c b/main.c
index ca84948..6e564fc 100644
--- a/main.c
+++ b/main.c
@@ -1,39 +1,58 @@
-#include <msp430.h> 
-#include "typedefExtention.h"
-#include "SPI.h"
-#include "motorDriver.h"
-#include "motionController.h"
-
-/**
- * main.c
- */
-int main(void)
-{
-    int v;
-
-    WDTCTL = WDTPW | WDTHOLD;   // stop watchdog timer
-
-    // set cpu op 16MHz
-    BCSCTL1 = CALBC1_16MHZ;
-    DCOCTL  = CALDCO_16MHZ;
-
-
-    SPIInit();
-
-    // wait some time so the other ic have some time to start
-    __delay_cycles (1000000);
-
-    MDInit(); // initilize motor driver
-    MCInit(); // initilize motion controller
-
-    // set snelheid van motor op 50 (ongeveer 1.7 mm/s of 6 meter/uur)
-    v = 50;
-    MCSetV(1, v);
-
-    // start een oneinige loop dit elke seconde de senlhied veranderd naar een (pseudo) random waarde
-    while(1){
-        __delay_cycles (15500000);
-        v = 2047.0 * sin((double) v);
-        MCSetV(1, v);
-    }
-}
+#include <msp430.h>
+#include <math.h>
+#include "SPI.h"
+#include "motorDriver.h"
+#include "motionController.h"
+#include "NFC.h"
+
+/* pinout
+ *
+ * motor driver:
+ * CLK  <-> P1.4*
+ * MOSI <-> P1.1*
+ * MISO <-> P1.2*
+ * CS   <-> P1.3
+ * 
+ * motion controller:
+ * CLK  <-> P1.4*
+ * MOSI <-> P1.1*
+ * MISO <-> P1.2*
+ * CS   <-> P1.0
+ * 
+ * NFC tag reader:
+ * CLK  <-> P1.4*
+ * MOSI <-> P1.1*
+ * MISO <-> P1.2*
+ * CS   <-> P1.6
+ * RST  <-> P1.7
+ * 
+ * Lijndetectie:
+ * front right <-> P2.0
+ * front left  <-> P2.1
+ * back right  <-> P2.2
+ * back left   <-> P2.3
+ * 
+ * *) this is a shared SPI pin.
+ * 
+ * */
+
+/**
+ * main.c
+ */
+int main(void)
+{
+    int v;
+
+    WDTCTL = WDTPW | WDTHOLD;   // stop watchdog timer
+
+    // set cpu op 16MHz
+    BCSCTL1 = CALBC1_16MHZ;
+    DCOCTL  = CALDCO_16MHZ;
+
+    SPIInit();
+    MDInit();
+    MCInit();
+    NFCInit();
+
+    return 0;
+}