diff --git a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
index 865830b39a86aa30e5e7f1dcf2653c0c0e742123..7ec8c2ed5f2fc071ae9cf4fb2f9d3879371ba0b9 100644
--- a/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
+++ b/quad/xsdk_workspace/modular_quad_pid/src/hw_impl_zybo_tests.c
@@ -4,13 +4,17 @@
 #include <stdio.h>
 
 /**
- * Use the LEDDriver and SystemDriver to create a basic "blink" program,
- * using the mio7 LED on the Zybo board.
+ * Test for the LEDDriver and SystemDriver.
+ *
+ * This is essentially a basic "blink" program, using the mio7 LED
+ * on the Zybo board.
  *
  * Instructions:
- * 1) Use the USB cable and plug Zybo board into computer.
- * 2) Run.
- * 3) Observe MIO7 LED on board blinking at 1 second intervals.
+ * 1) Connect Zybo board to computer by USB cable.
+ * 2) Set the RUN_TESTS macro in main.c
+ * 3) Uncomment only this test in main.c
+ * 4) Run main.c
+ * 5) Observe MIO7 LED on board blinking at 1 second intervals.
  */
 int test_zybo_mio7_led_and_system() {
   struct LEDDriver mio7 = create_zybo_mio7_led();
@@ -28,6 +32,27 @@ int test_zybo_mio7_led_and_system() {
   return 0;
 }
 
+/**
+ * Test for the I2CDriver.
+ *
+ * Raw I2C tests are tedius, so we are going to cheat a bit, and use
+ * some of the LIDAR code we have.
+ *
+ * Instructions:
+ * 1) Connect Zybo Board to computer by USB cable.
+ * 2) Prepare a breadboard to accomplish the following connections:
+ *   - Zybo GND     <-> LIDAR GND
+ *   - Zybo WALL    <-> LIDAR VCC
+ *   - Zybo VV5V0   <-> LIDAR VCC
+ *   - Zybo SDA/SCL <-> LIDAR SDA/SCL
+ *     - The Zybo I2C SCL and SDA pins are on pins 1 and 2 of PORT JF, respectively
+ * 3) Place breakpoint in this test function, somewhere in the while loop.
+ * 4) Set the RUN_TESTS macro in main.c
+ * 5) Uncomment only this test in main.c
+ * 6) Debug main.c
+ * 7) Step through the while loop, observing x change as you physically change the
+ *    distance of the LIDAR sensor.
+ */
 int test_zybo_i2c() {
   struct I2CDriver i2c = create_zybo_i2c();
   struct SystemDriver sys = create_zybo_system();