Terminology
R = Right Clockwise
R'= Right Counterclockwise
L = Left Clockwise
L' = Left Counterclockwise
U = Up Clockwise
U' = Up Counterclockwise
D = Down Clockwise
D' = Down Counterclockwise
F = Front Clockwise
F' = Front Counterclockwise
B = Back Clockwise
B' = Back Counterclockwise
ANYTHING WITH 2 IN IT MEANS THAT YOU HAVE TO DO THAT TURN TWICE
EX: R U2 L = right, up, up, left