Added Comments to main, motor_ctrl, and encoder

Added someone comments to clarify what is happening in these files. Also added a comment in main to instruct when a new Z-offset should be found.

source_code/Teensy35/src/encoder.cpp

@@ -79,10 +79,11 @@ void encoder_setup(void)
 
     pinMode(Z, INPUT); // sets the Z signal as digital pin input
     //interupt when the z position is found
+    //TODO: Move this to after the setup.
     attachInterrupt(digitalPinToInterrupt(Z), isr_index, RISING);
 
-    encoder.setup();
-    encoder.start();// Start Quad Decode position count
+    encoder.setup(); // Look at A and B channels and calculate our count
+    encoder.start();// Start Quad Decode position count (A and B channels)
 
     //xPosn.zeroFTM(); //This zeros the counter
 
@@ -95,6 +96,7 @@ void encoder_setup(void)
         delay(1000); //sit tight for a bit
 
         //setup interupts to allow button presses
+        // TODO: Ask Matt about button presses. 
         pinMode(ButtonA, INPUT_PULLUP);
         attachInterrupt(digitalPinToInterrupt(ButtonA), buttonA_ISR, RISING);
         pinMode(ButtonB, INPUT_PULLUP);
@@ -316,7 +318,7 @@ void set_calibration_complete()
 void debug_encoder(void)
 {
     while(1){
-        int position = encoder.calcPosn();
+        /*int position = encoder.calcPosn();*/
         static int lastZoffset = 0;
         static int lastNetPosition = 0;
         int netPosition = 0;

source_code/Teensy35/src/main.cpp

@@ -55,6 +55,8 @@ H TO TO SEND SPECIFIC PHASES DEBUG MOTOR\n");
             case ' ':
                 break;
             case 'z':
+                // Use this function to calculate a new Z-Offset when the encoder has been
+                // decoupled from the motor.
                 charge_bootstrap_capacitors();
                 do_hard_coded_offset();// run the set zero
                 break;
@@ -76,6 +78,7 @@ H TO TO SEND SPECIFIC PHASES DEBUG MOTOR\n");
                 motor_butt_control_inefficient();
                 break;
             case 's':
+                // This is our default when not in debug mode
                 charge_bootstrap_capacitors();
                 motor_butt_control_precalculated();
                 break;
@@ -163,7 +166,7 @@ H TO TO SEND SPECIFIC PHASES DEBUG MOTOR\n");
 void loop()
 {
     //hold on to the old phase number
-    static int last_phase = 0;
+    /*static int last_phase = 0;*/
 
     // get the current encoder tics (this does the math to offset)
     int position = get_wheel_position_ticks();

source_code/Teensy35/src/motor_ctrl.cpp

@@ -63,12 +63,12 @@ void motor_setup(void) {
 
     
 
-    pinMode(L1, OUTPUT);
-    pinMode(L2, OUTPUT);
-    pinMode(L3, OUTPUT); 
-    pinMode(H1, OUTPUT);
-    pinMode(H2, OUTPUT);
-    pinMode(H3, OUTPUT);
+    pinMode(L1, OUTPUT); // pin 5
+    pinMode(L2, OUTPUT); // pin 20
+    pinMode(L3, OUTPUT); // pin 22
+    pinMode(H1, OUTPUT); // pin 6
+    pinMode(H2, OUTPUT); // pin 21
+    pinMode(H3, OUTPUT); // pin 23
     
 
     //PWM setup
@@ -98,6 +98,7 @@ void motor_setup(void) {
     digitalWrite(time_led, LOW);
 
     //setup the pot_0_timer and the coast_timer to run thirty times a second to find value from pot
+    // 30 times a second, go check the pot value via ISR
     pot_0_timer.begin(pot_0_speed_ISR, 33333);
 }
 
@@ -252,22 +253,23 @@ void set_phase_float(float f1, float f2, float f3)
     sei();
     //digitalWrite(led, LOW);// stop a timer
 
-
+    // Scaling sin factor by pot value to make it more reasonible -> If throttle is 0, dont do anything
     f1 = (f1 * potval);
     f2 = (f2 * potval);
     f3 = (f3 * potval);
 
+    // Val 0-255 scaled by pot and f1
     int f1i = (int) f1;
     int f2i = (int) f2;
     int f3i = (int) f3;
 
-
+    // The if and else if stuff here is forcing H1/L1/H2/L2/H3/L3 to be written in a specific, right way
     if ( (last_f1i == 0) && (f1i != 0) )
     {
         // f1 used to have low side on now has high side on
         // turn off f1 low side first then do f1s high side 
         analogWrite(L1, 0);
-        analogWrite(H1, f1i);
+        analogWrite(H1, f1i); //0 = full off duty cycle, 255 = full on duty cycle
         
     }
     else if ( (last_f1i != 0) && (f1i == 0) ){

source_code/Teensy35/src/utils.cpp

@@ -24,7 +24,7 @@ void checkDebugJumper() {
 }
 
 bool getDebugOn() {
-    return false; //uncomment to disable debug mode 
+    return true; //uncomment to disable debug mode 
     //return true;
     //return DEBUG_JUMPER_ON;
 }