diff --git a/src/Command.h b/src/Command.h
index 2cd4a395ee78f51abb144356fd80d04c160d2659..42218daf84a1ea286d1922f21a85d68ae6b890c1 100644
--- a/src/Command.h
+++ b/src/Command.h
@@ -3,12 +3,33 @@
 
 #include "commandlib.h"
 
+/**
+ * @brief Base class for the specific Command implementations
+ *  e.g. Gear, Direction and Pause.
+ */
 class Command : ICommand
 {
 private:
     std::string name;
 public:
+    /**
+     * @brief Construct a new Command object with name _name.
+     * 
+     * @param _name of the Command
+     */
     Command(std::string _name) { name = _name; }
+
+    /**
+     * @brief Get the Commands name.
+     * 
+     * @return std::string name
+     */
     std::string getName() { return name; }
+
+    /**
+     * @brief Virtual. Implement to return a string version of the Command.
+     * 
+     * @return std::string representation of the Command.
+     */
     virtual std::string getConfig() = 0;
 };
\ No newline at end of file
diff --git a/src/CommandListOWN.h b/src/CommandListOWN.h
index b5cde4e6366f6ed97b98e90ce97ca4ea5c722146..4203aeb4b97390b5cb4ecf63bf131bbde9eb51f7 100644
--- a/src/CommandListOWN.h
+++ b/src/CommandListOWN.h
@@ -9,7 +9,10 @@
 #include "Direction.h"
 #include "Pause.h"
 
-
+/**
+ * @brief A doubly linked List of std::shared_ptr<Element>
+ * 
+ */
 class CommandList
 {
 private:
@@ -34,6 +37,11 @@ public:
     void printCommands();
 };
 
+/**
+ * @brief Returns the number of Elements in the List
+ * 
+ * @return int Elements in the List
+ */
 int CommandList::getSize()
 {
     std::shared_ptr<Element> ptr = root;
@@ -45,6 +53,10 @@ int CommandList::getSize()
     return i;
 }
 
+/**
+ * @brief Removes every Element from the List.
+ * 
+ */
 void CommandList::clear()
 {
     std::shared_ptr<Element> current = root;
@@ -59,7 +71,14 @@ void CommandList::clear()
     }
 }
 
-template <class Type>
+/**
+ * @brief Adds a Command of Type to the end of the list.
+ * This template does not check if the given Type inherits from Command.
+ * @tparam Type implicit
+ * @param _cmd any Command that inherits from Command
+ * @return std::shared_ptr<Command> to the newly instanciated Command
+ */
+template <typename Type>
 std::shared_ptr<Command> CommandList::add(const Type _cmd)
 {
     std::shared_ptr<Element> newElement = std::make_shared<Element>(_cmd);
@@ -69,7 +88,10 @@ std::shared_ptr<Command> CommandList::add(const Type _cmd)
     return newElement->getCommand();
 }
 
-//clears list before adding 5 Commands
+/**
+ * @brief Clears list before adding 5 Commands to the list.
+ * 
+ */
 void CommandList::createCommands()
 {
     clear();
@@ -81,6 +103,10 @@ void CommandList::createCommands()
     add(Gear(-10, 2.71));
 }
 
+/**
+ * @brief Prints out every Command in the list to std::cout using the getConfig() method.
+ * 
+ */
 void CommandList::printCommands()
 {
     std::shared_ptr<Element> current = root;
@@ -92,6 +118,13 @@ void CommandList::printCommands()
     }
 }
 
+/**
+ * @brief Removes the Element at _pos from the list.
+ * 
+ * @param _pos of the Element to be deleted
+ * @return std::shared_ptr<Command> to the Command the Element was holding
+ * or nullptr, if unsuccessful
+ */
 std::shared_ptr<Command> CommandList::remove(unsigned int _pos)
 {
     std::shared_ptr<Element> toRemove = getElement(_pos);
@@ -109,6 +142,12 @@ std::shared_ptr<Command> CommandList::remove(unsigned int _pos)
     return toRemove->getCommand();
 }
 
+/**
+ * @brief Get the Element at _pos of the list.
+ * 
+ * @param _pos Position of the wanted Element.
+ * @return std::shared_ptr<Element> to the Element at _pos or nullptr if unsuccessful.
+ */
 std::shared_ptr<Element> CommandList::getElement(unsigned int _pos)
 {
     if (_pos > getSize())
@@ -123,6 +162,12 @@ std::shared_ptr<Element> CommandList::getElement(unsigned int _pos)
     return elem;
 }
 
+/**
+ * @brief Get the Command at _pos of the list utilizing CommandList::getElement.
+ * 
+ * @param _pos of the wanted Command
+ * @return std::shared_ptr<Command> to the wanted Command or nullptr if unsuccessful.
+ */
 std::shared_ptr<Command> CommandList::getCommand(unsigned int _pos)
 {
     std::shared_ptr<Element> elem = getElement(_pos);
@@ -136,6 +181,12 @@ std::shared_ptr<Command> CommandList::getCommand(unsigned int _pos)
     }
 }
 
+/**
+ * @brief Searches the list for a std::shared_ptr<Command>.
+ * 
+ * @param _cmd to look up.
+ * @return int position of the std::shared_ptr<Command> or -1 if unsuccessful.
+ */
 int CommandList::getPos(std::shared_ptr<Command> _cmd)
 {
     std::shared_ptr<Element> elem = root;
@@ -153,6 +204,12 @@ int CommandList::getPos(std::shared_ptr<Command> _cmd)
     return i;
 }
 
+/**
+ * @brief Moves up an Element in the list.
+ * Switching the Element at _pos with the Element at _pos-1.
+ * @param _pos of the Element to move up
+ * @return std::shared_ptr<Command> held by the moved Element or nullptr if unsuccessful.
+ */
 std::shared_ptr<Command> CommandList::moveUp(unsigned int _pos)
 {
     if (_pos <= 1)
@@ -179,6 +236,13 @@ std::shared_ptr<Command> CommandList::moveUp(unsigned int _pos)
     return toReturn;
 }
 
+/**
+ * @brief Moves down an Element in the list.
+ * Switching the Element at _pos with the Element at _pos+1.
+ * Probably one of these functions could use the other one with an offset, but whatever.
+ * @param _pos of the Element to move down
+ * @return std::shared_ptr<Command> held by the moved Element or nullptr if unsuccessful.
+ */
 std::shared_ptr<Command> CommandList::moveDown(unsigned int _pos)
 {
     std::shared_ptr<Element> ptr = getElement(_pos);
diff --git a/src/Direction.h b/src/Direction.h
index a7b45df655d8dee953d9073eb8fb850b6010e290..739f694933ba04f1020a13a8eb96fc19c55b3d33 100644
--- a/src/Direction.h
+++ b/src/Direction.h
@@ -3,6 +3,10 @@
 #include "Command.h"
 #include <string>
 
+/**
+ * @brief The Direction command makes the robot turn around the set angle in place.
+ * 
+ */
 class Direction : public Command, public IDirection
 {
 private:
@@ -15,11 +19,21 @@ public:
     std::string getConfig();
 };
 
+/**
+ * @brief Construct a new Direction:: Direction Command setting its
+ * degree variable.
+ * @param newDegree, the angle to be set
+ */
 Direction::Direction(int newDegree) : Command(IDirection::direction)
 {
     setDegree(newDegree);
 }
 
+/**
+ * @brief Change the angle variable,
+ * clipping at -90 and +90 degrees.
+ * @param newDegree, the angle to be set
+ */
 void Direction::setDegree(int newDegree)
 {
     if (newDegree <= -90)
@@ -30,6 +44,11 @@ void Direction::setDegree(int newDegree)
         degree = newDegree;
 }
 
+/**
+ * @brief Returns a string representation of the Command
+ * and it's value.
+ * @return std::string "Direction - Degree: ...."
+ */
 std::string Direction::getConfig()
 {
     std::string str = IDirection::direction
diff --git a/src/Element.h b/src/Element.h
index 24f6af2f01fe5f4eab8471aed0c42fcf3c4383cf..ea3953cf18f37ed23cd691cb2ad3359132fb6072 100644
--- a/src/Element.h
+++ b/src/Element.h
@@ -3,6 +3,10 @@
 
 #include "Command.h"
 
+/**
+ * @brief Element of the doubly linked list CommandList.
+ * 
+ */
 class Element
 {
 private:
@@ -11,14 +15,54 @@ private:
     std::shared_ptr<Command> cmd;
 
 public:
-    template <class Type>
+    /**
+     * @brief Construct a new Element object with a std::shared_ptr of type Type.
+     * The template function does not check if Type inherits from Command, potential bug.
+     * @tparam Type typename of _cmd is implicitly given.
+     * @param _cmd the Command to be held by this Element.
+     */
+    template <typename Type>
     Element(Type _cmd) { cmd = std::make_shared<Type>(_cmd); }
+    
+    /**
+     * @brief Construct an empty Element object. Dont use this constructor!
+     * 
+     * @warning This is constructor is only needed when initializing the root Element of the CommandList!
+     */
     Element() {}
+
+    /**
+     * @brief Get the Command pointer
+     * 
+     * @return std::shared_ptr<Command> 
+     */
     std::shared_ptr<Command> getCommand() { return cmd; }
     
+    /**
+     * @brief Set the next Element
+     * 
+     * @param _next to the next Element
+     */
     void setNext(std::shared_ptr<Element> _next) { next = _next; }
+
+    /**
+     * @brief Get the next Element
+     * 
+     * @return std::shared_ptr<Element> of the next Element
+     */
     std::shared_ptr<Element> getNext() { return next; }
 
+    /**
+     * @brief Set the previous Element
+     * 
+     * @param _prev of the previous Element
+     */
     void setPrev(std::shared_ptr<Element> _prev) { prev = _prev; }
+
+    /**
+     * @brief Get the previous Element
+     * 
+     * @return std::shared_ptr<Element> of the previous Element
+     */
     std::shared_ptr<Element> getPrev() { return prev; }
 };
\ No newline at end of file
diff --git a/src/Gear.h b/src/Gear.h
index 648cadd06dd1a63c27a7c84029fcddd4cb3a6026..50ec72c856ff9f3076b1d0d4583bd0b582cbbcdd 100644
--- a/src/Gear.h
+++ b/src/Gear.h
@@ -3,6 +3,10 @@
 #include "Command.h"
 #include <string>
 
+/**
+ * @brief The Gear command makes the robot drive in a straight line
+ * with the set speed for the set time.
+ */
 class Gear : public Command, public IGear
 {
 private:
@@ -19,12 +23,23 @@ public:
     std::string getConfig();
 };
 
+/**
+ * @brief Construct a new Gear:: Gear Command setting its variables.
+ * 
+ * @param newSpeed is the speed to be set
+ * @param newDuration the time for which to drive 
+ */
 Gear::Gear(int newSpeed, double newDuration) : Command(IGear::gear)
 {
     setSpeed(newSpeed);
     setDuration(newDuration);
 }
 
+/**
+ * @brief Change the speed variable,
+ * clipping at -100 and +100.
+ * @param newSpeed the speed to be set
+ */
 void Gear::setSpeed(int newSpeed)
 {
     if (newSpeed <= -100)
@@ -35,6 +50,11 @@ void Gear::setSpeed(int newSpeed)
         speed = newSpeed;
 }
 
+/**
+ * @brief Change the duration variable.
+ * 
+ * @param newDuration the duration to be set
+ */
 void Gear::setDuration(double newDuration)
 {
     if (newDuration < 0)
@@ -43,6 +63,11 @@ void Gear::setDuration(double newDuration)
         duration = newDuration;
 }
 
+/**
+ * @brief Returns a string representation of the Command
+ * and it's values.
+ * @return std::string "Gear - Speed: ... for: ...s"
+ */
 std::string Gear::getConfig()
 {
     std::string str = IGear::gear
diff --git a/src/Pause.h b/src/Pause.h
index 1dbf5bad2404afab37b10b2055d106a3e44b07c7..a39058c1f0f2354d8d42b91bf1148ab9674b0347 100644
--- a/src/Pause.h
+++ b/src/Pause.h
@@ -3,6 +3,10 @@
 #include "Command.h"
 #include <string>
 
+/**
+ * @brief The Pause command makes the robot do nothing
+ * for the set time.
+ */
 class Pause : public Command, public IPause
 {
 private:
@@ -15,11 +19,21 @@ public:
     std::string getConfig();
 };
 
+/**
+ * @brief Construct a new Pause:: Pause Command setting its duration variable
+ * 
+ * @param newDuration 
+ */
 Pause::Pause(double newDuration) : Command(IPause::pause)
 {
     setDuration(newDuration);
 }
 
+/**
+ * @brief Change the duration variable
+ * 
+ * @param newDuration 
+ */
 void Pause::setDuration(double newDuration)
 {
     if (newDuration < 0)
@@ -28,10 +42,16 @@ void Pause::setDuration(double newDuration)
         duration = newDuration;
 }
 
+/**
+ * @brief Returns a string representation of the Command
+ * and it's value.
+ * @return std::string "Pause - Duration: ...s"
+ */
 std::string Pause::getConfig()
 {
     std::string str = IPause::pause
                     + " - Duration: "
-                    + std::to_string(duration);
+                    + std::to_string(duration)
+                    + 's';
     return str;
 };
\ No newline at end of file