This is a much larger discussion, and it's not as easy as adding headings, subheadings, etc. to your comments. There has been a clear cultural shift against writing comments and properly documenting code. This is probably due to several factors, including unreasonable deadlines, bad architecture, job security, or meaningless output factors (e.g. lines of code).

This is why open-source code tends to be some of the best architected and documented code out there: it's pretty much the definition of "by committee" (in the best sense of that term) and meant to be inviting to anyone to contribute. So of course you want it to look nice.

At BigCo, these factors don't really come into play (even though it would probably be better for the company if they did). There's also a lot of differences between writing software and building robots. Systems engineers build and refine requirements documents, pages upon pages of "this tiny part should be built like this, should have these constraints, etc." with traceability, discussion, and clear deliverables. Software, on the other hand, is unfortunately mostly just "patch a few things together and get the login form working."