diff --git a/red/src/jogger.rs b/red/src/gamepad.rs
similarity index 50%
rename from red/src/jogger.rs
rename to red/src/gamepad.rs
index 57fb39b..d410ce5 100644
--- a/red/src/jogger.rs
+++ b/red/src/gamepad.rs
@@ -17,21 +17,39 @@ pub enum Axis {
 }
 
 #[derive(Debug)]
-pub enum ControllerEvent {
+pub enum GamepadEvent {
     AxisPosition(Axis, f32),
     TerminatePressed,
 }
 
-pub struct Jogger {
+/// Read inputs from connected gamepads and translate those to commands for the Machine
+///
+/// Example:
+/// ```rust
+///
+/// let jogger = jogger::Jogger::new().await.unwrap();
+/// loop {
+///     tokio::time::sleep(Duration::from_secs(2)).await;
+///     let setpoint = jogger.speed_setpoint();
+///     println!(
+///         "speed setpoint: {} {} {}",
+///         setpoint.0, setpoint.1, setpoint.2
+///     );
+/// }
+/// ```
+pub struct Gamepad {
     speed_setpoint: Mutex<(f32, f32, f32)>,
     terminator: oneshot::Sender<()>,
 }
 
-impl Jogger {
+impl Gamepad {
+    /// Create a new `Gamepad` and spawn the underlying tasks for updating internal setpoints
+    ///
+    /// The tasks are terminated on drop.
     pub async fn new() -> Result<Arc<Self>, gilrs::Error> {
         let (terminate_tx, mut terminate_rx) = oneshot::channel();
-        let (controller_tx, controller_rx) = mpsc::channel(8);
-        let res = Arc::new(Jogger {
+        let (gamepad_tx, gamepad_rx) = mpsc::channel(8);
+        let res = Arc::new(Gamepad {
             speed_setpoint: Mutex::new((0.0, 0.0, 0.0)),
             terminator: terminate_tx,
         });
@@ -43,27 +61,29 @@ impl Jogger {
             while let Err(oneshot::error::TryRecvError::Empty) = terminate_rx.try_recv() {
                 sleep(Duration::from_millis(1));
                 if let Some(event) = gilrs.next_event() {
-                    Self::map_event(event).map(|event| controller_tx.blocking_send(event));
+                    Self::map_event(event).map(|event| gamepad_tx.blocking_send(event));
                 }
             }
         });
 
-        tokio::spawn(Self::handle_events(res.clone(), controller_rx));
+        tokio::spawn(Self::handle_events(res.clone(), gamepad_rx));
 
         Ok(res)
     }
 
-    pub fn speed_setpoint(&self) -> (f32, f32, f32){
+    /// Get the current speed that the user is dialing in on the gamepad
+    pub fn speed_setpoint(&self) -> (f32, f32, f32) {
         *self.speed_setpoint.lock().unwrap()
     }
 
-    async fn handle_events(self_arc: Arc<Self>, mut events_rx: mpsc::Receiver<ControllerEvent>) {
+    /// Update the setpoints in accordance to incoming `GamepadEvent`s
+    async fn handle_events(self_arc: Arc<Self>, mut events_rx: mpsc::Receiver<GamepadEvent>) {
         let mut z_positive = 0.0;
         let mut z_negative = 0.0;
         while let Some(event) = events_rx.recv().await {
             match event {
-                ControllerEvent::TerminatePressed => break,
-                ControllerEvent::AxisPosition(axis, value) => {
+                GamepadEvent::TerminatePressed => break,
+                GamepadEvent::AxisPosition(axis, value) => {
                     // I won't panic if you don't panic!
                     let mut speed_setpoint = self_arc.speed_setpoint.lock().unwrap();
                     match axis {
@@ -71,34 +91,32 @@ impl Jogger {
                         Axis::Y => speed_setpoint.1 = value,
                         Axis::ZPositive => {
                             z_positive = value;
-                            speed_setpoint.2 = z_positive-z_negative;
+                            speed_setpoint.2 = z_positive - z_negative;
                         }
                         Axis::ZNegative => {
                             z_negative = value;
-                            speed_setpoint.2 = z_positive-z_negative;
+                            speed_setpoint.2 = z_positive - z_negative;
                         }
                     }
                 }
             }
         }
-        println!("Controller quit!")
+        println!("Game pad quit!")
     }
 
-    fn map_event(event: gilrs::Event) -> Option<ControllerEvent> {
+    fn map_event(event: gilrs::Event) -> Option<GamepadEvent> {
         match event.event {
-            AxisChanged(LeftStickX, value, _) => {
-                Some(ControllerEvent::AxisPosition(Axis::X, value))
-            }
-            AxisChanged(LeftStickY, value, _) => {
-                Some(ControllerEvent::AxisPosition(Axis::Y, value))
-            }
-            AxisChanged(RightZ, value, _) => {
-                Some(ControllerEvent::AxisPosition(Axis::ZNegative, (1.0+value)/2.0))
-            }
-            AxisChanged(LeftZ, value, _) => {
-                Some(ControllerEvent::AxisPosition(Axis::ZPositive, (1.0+value)/2.0))
-            }
-            ButtonPressed(gilrs::Button::Start, _) => Some(ControllerEvent::TerminatePressed),
+            AxisChanged(LeftStickX, value, _) => Some(GamepadEvent::AxisPosition(Axis::X, value)),
+            AxisChanged(LeftStickY, value, _) => Some(GamepadEvent::AxisPosition(Axis::Y, value)),
+            AxisChanged(RightZ, value, _) => Some(GamepadEvent::AxisPosition(
+                Axis::ZNegative,
+                (1.0 + value) / 2.0,
+            )),
+            AxisChanged(LeftZ, value, _) => Some(GamepadEvent::AxisPosition(
+                Axis::ZPositive,
+                (1.0 + value) / 2.0,
+            )),
+            ButtonPressed(gilrs::Button::Start, _) => Some(GamepadEvent::TerminatePressed),
             _ => None,
         }
     }
diff --git a/red/src/lib.rs b/red/src/lib.rs
index dc85e2d..2e00e3b 100644
--- a/red/src/lib.rs
+++ b/red/src/lib.rs
@@ -1,2 +1,2 @@
+pub mod gamepad;
 pub mod printer;
-pub mod jogger;
diff --git a/red/src/main.rs b/red/src/main.rs
index 451e5e1..2777cba 100644
--- a/red/src/main.rs
+++ b/red/src/main.rs
@@ -1,7 +1,7 @@
 #![warn(rust_2018_idioms)]
 use futures::never::Never;
 use i2c_linux::I2c;
-use red::jogger;
+use red::gamepad;
 use red::printer::gcode::*;
 use red::printer::Printer;
 use std::time::Duration;
@@ -33,7 +33,7 @@ const I2C_REGISTER_SPINDLE_SPEED: u8 = 0;
 
 #[tokio::main]
 async fn main() -> Never {
-    write_to_spindle().await
+    jog().await
 }
 
 async fn write_to_spindle() -> Never {
@@ -89,7 +89,7 @@ async fn write_to_printer() -> Never {
 }
 
 async fn jog() -> Never {
-    let jogger = jogger::Jogger::new().await.unwrap();
+    let jogger = gamepad::Gamepad::new().await.unwrap();
     loop {
         tokio::time::sleep(Duration::from_secs(2)).await;
         let setpoint = jogger.speed_setpoint();