diff --git a/src/smartdrive/smartdrive.cxx b/src/smartdrive/smartdrive.cxx
index 12e02b1c..83e63488 100644
--- a/src/smartdrive/smartdrive.cxx
+++ b/src/smartdrive/smartdrive.cxx
@@ -1,7 +1,8 @@
 /*
  * The MIT License (MIT)
  *
- * Author: Oussema Harbi <oussema.elharbi@gmail.com>
+ * Authors: Oussema Harbi <oussema.elharbi@gmail.com>  and
+ *          Neuber Jose de Sousa <neuberfran@gmail.com>
  * Copyright (c) <2016> <Oussema Harbi>
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
@@ -32,6 +33,8 @@
 #include "smartdrive.hpp"
 
 
+
+
 using namespace upm;
 
 SmartDrive::SmartDrive(int i2c_bus, int address): m_smartdrive_control_address(address), m_i2c_smartdrive_control(i2c_bus)
@@ -48,7 +51,7 @@ SmartDrive::SmartDrive(int i2c_bus, int address): m_smartdrive_control_address(a
 void
 SmartDrive::writeByte(uint8_t addr, uint8_t value) {
     try {
-        m_i2c_smartdrive_control.writeReg(addr, value);
+		m_i2c_smartdrive_control.writeReg(addr, value);
     } catch (int e) {
         std::cout << "Failed to write " << value << " to address " << addr << " --> " << e << std::endl;
     }
@@ -57,7 +60,7 @@ SmartDrive::writeByte(uint8_t addr, uint8_t value) {
 uint8_t
 SmartDrive::readByte(uint8_t addr) {
     try {
-        return m_i2c_smartdrive_control.readReg(addr);
+		return m_i2c_smartdrive_control.readReg(addr);
     } catch (int e) {
         std::cout << "Failed to read byte at address " << addr << " --> " << e << std::endl;
     }
@@ -65,9 +68,9 @@ SmartDrive::readByte(uint8_t addr) {
 }
 
 void
-SmartDrive::writeArray(uint8_t* array, uint8_t len) {
+SmartDrive::writeArray(uint8_t* array, int size) {
     try {
-        m_i2c_smartdrive_control.write(array, len);
+    	m_i2c_smartdrive_control.write(array, size);
     } catch (int e) {
         std::cout << "Failed to write array values to address " << array[0] << " --> " << e << std::endl;
     }
@@ -76,7 +79,7 @@ SmartDrive::writeArray(uint8_t* array, uint8_t len) {
 uint16_t
 SmartDrive::readInteger(uint8_t addr) {
     try {
-        return m_i2c_smartdrive_control.readWordReg(addr);
+	    return m_i2c_smartdrive_control.readWordReg(addr);
     } catch (int e) {
         std::cout << "Failed to read value at address " << addr << " --> " << e << std::endl;
     }
@@ -88,7 +91,7 @@ SmartDrive::readLongSigned(uint8_t addr) {
     uint8_t bytes[4]={0};
 
     try {
-        m_i2c_smartdrive_control.readBytesReg(addr, bytes, sizeof(bytes)/sizeof(uint8_t));
+		m_i2c_smartdrive_control.readBytesReg(addr, bytes, sizeof(bytes)/sizeof(uint8_t));
         return (bytes[0]|(bytes[1]<<8)|(bytes[2]<<16)|(bytes[3]<<24));
     } catch (int e) {
         std::cout << "Failed to read integer value at address " << addr << " --> " << e << std::endl;
@@ -146,7 +149,7 @@ SmartDrive::Run_Unlimited(int motor_id, int direction, uint8_t speed) {
             uint8_t array [5] = {SmartDrive_SPEED_M1, speed, 0, 0, ctrl};
             writeArray(array, sizeof(array));
         }
-        if ( motor_id != SmartDrive_Motor_ID_1) {
+        if (motor_id != SmartDrive_Motor_ID_1) {
             uint8_t array [5] = {SmartDrive_SPEED_M2, speed, 0, 0, ctrl};
             writeArray(array, sizeof(array));
         }
@@ -179,11 +182,11 @@ SmartDrive::Run_Seconds(int motor_id, int direction, uint8_t speed, uint8_t dura
             ctrl |= SmartDrive_CONTROL_GO;
         if ( direction != SmartDrive_Dir_Forward )
             speed = speed * -1;
-        if ( motor_id != SmartDrive_Motor_ID_2) {
+        if ((motor_id & SmartDrive_Motor_ID_2)!= 0) {
             uint8_t array[5] = {SmartDrive_SPEED_M1, speed, duration, 0, ctrl};
             writeArray(array, sizeof(array));
         }
-        if ( motor_id != SmartDrive_Motor_ID_1) {
+        if ((motor_id & SmartDrive_Motor_ID_1)!= 0) {
             uint8_t array[5] = {SmartDrive_SPEED_M2, speed, duration, 0, ctrl};
             writeArray(array, sizeof(array));
         }
@@ -427,4 +430,4 @@ SmartDrive::PrintMotorStatus(int motor_id) {
     } else {
         std::cout << "Please specify which motor's status you want to fetch !" << std::endl;
     }
-}
+}
\ No newline at end of file
diff --git a/src/smartdrive/smartdrive.hpp b/src/smartdrive/smartdrive.hpp
index 51108557..bcd870f9 100644
--- a/src/smartdrive/smartdrive.hpp
+++ b/src/smartdrive/smartdrive.hpp
@@ -1,7 +1,8 @@
 /*
  * The MIT License (MIT)
  *
- * Author: Oussema Harbi <oussema.elharbi@gmail.com>
+ * Authors: Oussema Harbi <oussema.elharbi@gmail.com> and
+ *          Neuber Jose de Sousa <neuberfran@gmail.com>
  * Copyright (c) <2016> <Oussema Harbi>
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
@@ -24,6 +25,8 @@
 
 #pragma once
 
+
+
 #include <mraa/i2c.hpp>
 
 //We can use direct integer IDs,
@@ -134,7 +137,7 @@ namespace upm {
 /**
  * @library smartdrive
  * @sensor smartdrive
- * @comname SmartDrive Advanced Motor Controller
+ * @comname SmartDrive advanced motor controller
  * @altname smartdrive
  * @type motor
  * @man openelectrons
@@ -154,8 +157,7 @@ class SmartDrive {
 public:
     /**
      * Initialize the class with the i2c address of your SmartDrive
-     * @param i2c_bus I2C bus to use.
-     * @param address Address of your SmartDrive.
+     * @param SmartDrive_address Address of your SmartDrive.
      */
     SmartDrive(int i2c_bus, int address = SmartDrive_DefaultAddress);
 
@@ -239,6 +241,7 @@ public:
     /**
      * Turns the specified motor(s) for given absolute tacheometer count
      * @param motor_id Number of the motor(s) you wish to turn.
+     * @param direction The direction you wish to turn the motor(s).
      * @param speed The speed at which you wish to turn the motor(s).
      * @param tacho_count The absolute tacheometer count you wish to turn the motor(s).
      * @param wait_for_completion Tells the program when to handle the next line of code.
@@ -288,7 +291,7 @@ public:
 
 private:
     void writeByte(uint8_t addr, uint8_t value);
-    void writeArray(uint8_t* array, uint8_t len);
+    void writeArray(uint8_t* array, int size);
     uint8_t readByte(uint8_t addr);
     uint16_t readInteger(uint8_t addr);
     uint32_t readLongSigned(uint8_t addr);
@@ -299,4 +302,4 @@ private:
 
 };
 
-}
+}
\ No newline at end of file