When I myself write code I end up with a long series of lines which contain lots of different subsections for reading different sensors or getting data from different sources. Having somebody on the team who actually knows how to write code properly can also enable it to be more easily understood. What's the point of being open source if what you've created is a mess or very difficult to de-cypher?

The navigational hub - a Mega 2560 - has now been coded with all the main subsections split up into different headings as shown below:

Even I can now understand it! Check it out on GitHub :https://github.com/paddygoat/WEEDINATOR