small changes in the documentation

source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h

@@ -112,7 +112,7 @@ namespace armarx
      *          IceUtil::Time currentStateTimestamp = TimeUtil::GetTime();
      *          IceUtil::Time lastStateTimestamp = TimeUtil::GetTime();
      *          getTheCurrentRobotState();//implement this
-     *          while(isNotStopped())
+     *          while(isNotStopped())//implement this
      *          {
      *              const IceUtil::Time  startIteration = TimeUtil::GetTime();
      *              //switching controllers
@@ -143,8 +143,8 @@ namespace armarx
      *              rtRunLVL0Controllers();
      *
      *              //time keeping + communicating
-     *              currentStateTimestamp = TimeUtil::GetTime();
      *              lastStateTimestamp = currentStateTimestamp;
+     *              currentStateTimestamp = TimeUtil::GetTime();
      *              getTheCurrentRobotStateAndSendTheCurrentControllCommands();//implement this
      *              communicateWithYourPublisherThread();//implement this
      *              //maybe meassure how long a loop took and log this information to your error struct
@@ -210,7 +210,7 @@ namespace armarx
         virtual LVL1ControllerInterfacePrx loadController(const std::string& className, const std::string& instanceName, const LVL1ControllerConfigPtr& config, const Ice::Current& = GlobalIceCurrent) override;
         virtual bool loadLibFromPath(const std::string& path, const Ice::Current& = GlobalIceCurrent) override;
         virtual bool loadLibFromPackage(const std::string& package, const std::string& lib, const Ice::Current& = GlobalIceCurrent) override;
-        //get buffers (ice)
+        //get buffers (ice)ELMO_MODE_OF_OPERATION_CURRENT_CONTROL
         /// @return The requested lvl0 controllers (none is null)
         std::vector<LVL0ControllerBase*>& getRequestedLVL0Controllers();
         /// @return The requested lvl1 controllers (some may be null)