Added a few comments

source_code/Teensy32/src/main.cpp

@@ -34,6 +34,7 @@ S TO START BUTT CONTROL (OPTIMIZED)\n");
         }
         if(incomingByte == ' ')//space bar
         {
+            //skips to start calibration
             break;
         }
         else if(incomingByte == 'z') //'z'

source_code/Teensy32/src/motor_ctrl.cpp

@@ -65,6 +65,7 @@ void motor_setup(void) {
     turn_all_off();
 }
 
+// Turns all the mosfets to LOW
 void turn_all_off() {
     digitalWrite(L1, LOW);
     digitalWrite(L2, LOW);
@@ -81,7 +82,7 @@ int one_to_scaleFactor(int x)
 {
     if (x == 1)
     {
-        // NOTE: The scale factor of is the max value we want out of
+        // NOTE: The scale factor is the max value we want out of
         // the potentiometer
         return get_pot_0_scaled(SCALE_FACTOR, PERIOD_OVER_255);
     }
@@ -145,6 +146,8 @@ void set_phase(int high1, int high2, int high3, int low1, int low2, int low3)
     if (! high3) analogWrite(H3, high3);
 
     //turn the stuff that should be on, on
+    /*this is so multiple mosfets don't go high at the 
+      same time when they shouldn't*/
 
     if (low1) digitalWrite(L1, low1);
     if (low2) digitalWrite(L2, low2);
@@ -242,7 +245,7 @@ void open_loop_control(void)
         for(int p = 1; p <= 6; p++)
         {
             set_block_phase(p);
-            //What's going on with this math, explination:
+            //What's going on with this math, explanation:
             // The get_pot_1_inv will return an int 0-100
             // We want the minimum speed to be 1 sec per phase
             // we want the maximum speed to be 2800 us per phase
@@ -258,7 +261,7 @@ void open_loop_control(void)
     }
 }
 
-// This just charges up the small boostrap capacitors
+// This just charges up the small bootstrap capacitors
 // this should allways be called right before powering the motor
 void charge_bootstrap_capacitors(void)
 {
@@ -270,6 +273,8 @@ void charge_bootstrap_capacitors(void)
 }
 
 //using hardcoded located state positions
+/* If we're in a position, start powering the voltage 
+   to get us to the next position */
 void direct_position_control(void) 
 {
     calibrate_encoder();