diff --git a/libraries/AP_RPM/examples/ArduinoHallEffectDebug.ino b/libraries/AP_RPM/examples/ArduinoHallEffectDebug.ino
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+++ b/libraries/AP_RPM/examples/ArduinoHallEffectDebug.ino
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+/*
+INSTRUCTIONS
+============
+*** *** *** For testing the hall effect sensor and correct magnet polarity *** *** ***
+Connect the signal pin of the sensor to pin 2 on the Arduino (an interrupt pin). Connect the 
+Ground to Gnd and Vcc to 5V. Set the detect_on variable to true. Upload the code to your Arduino.
+Open the serial monitor and set the Baud rate to 9600. All being well, when you bring the 
+magnet close to the sensor, with the correct polarity, the serial monitor will print ‘detect’.
+
+*** *** *** To output hall effect RPM to a graph *** *** ***
+Connect the signal pin of the sensor to pin 2 on the Arduino (an interrupt pin). Connect the
+Ground to Gnd and Vcc to 5V. Set the detect_on variable to false.  Set the number of magnets
+on the shaft using n_magnets.  Upload the code to your Arduino. Open the serial plotter. When
+you spin the shaft with magnet(s) attached the RPM will be plotted.
+
+*** *** *** To output commutation RPM to a graph *** *** ***
+Connect up the commutation RPM sensor to the motor as per the manufacturers instructions. 
+Connect the signal pin of the sensor to pin 2 on the Arduino (an interrupt pin). Connect the
+Ground to Gnd and Vcc to 5V. Set the detect_on variable to false.  Set the number of poles in
+the motor using n_magnets.  Upload the code to your Arduino. Open the serial plotter. When
+you power the shaft with magnet(s) attached the RPM will be plotted.
+*/
+
+//Conversion factors
+#define MILLIS_TO_SEC 1000.0f
+#define SEC_TO_MIN 60.0f
+
+/* 
+ If you want to use the hall effect sensor to print 'detect' to the serial monitor when the magnet is
+ near and the correct polarity is presented, set this to true.  If you want to output an rpm value 
+ set this to false.
+*/
+bool detect_on = true;
+
+
+/* Set the number of magnets on autorotation wheel / shaft or the number of poles on the motor, 
+depending on the type of sensor being used. */
+int n_magnets = 1;
+
+volatile byte n_rev;
+float rpm;
+float prev_time;
+
+
+ void setup()
+ {
+   Serial.begin(9600);
+   attachInterrupt(0, detect, RISING);//Initialize the intterrupt pin (Arduino digital pin 2)
+   n_rev = 0;
+   rpm = 0.0f;
+   prev_time = 0.0f;
+ }
+
+ 
+ void loop()//Measure RPM
+ {
+   //Only do rpm calculation after 20 rotations has past.
+   if (n_rev >= 20) {
+     rpm = SEC_TO_MIN*MILLIS_TO_SEC/(millis() - prev_time)*n_rev/n_magnets;
+
+     //reset prev_time to now
+     prev_time = millis();
+
+     //reset rotation counter
+     n_rev = 0;
+
+     //print rpm value to serial console
+     Serial.println(rpm,DEC);
+   }
+ }
+
+
+ //This function is called whenever a magnet/interrupt is detected by the arduino
+ void detect()
+ {
+   n_rev++;
+
+   if (detect_on == true) {
+      Serial.println("Magnet Detected");
+   }
+ }
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