added the main back in

source_code/Teensy35/.vscode/settings.json

 {
     "terminal.integrated.env.windows": {
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+        "PATH": "C:\\Users\\Matt\\.platformio\\penv\\Scripts;C:\\Users\\Matt\\.platformio\\penv;C:\\Program Files\\Dell\\DW WLAN Card;C:\\WINDOWS\\system32;C:\\WINDOWS;C:\\WINDOWS\\System32\\Wbem;C:\\WINDOWS\\System32\\WindowsPowerShell\\v1.0\\;c:\\Program Files\\WIDCOMM\\Bluetooth Software\\;c:\\Program Files\\WIDCOMM\\Bluetooth Software\\syswow64;C:\\WINDOWS\\system32\\config\\systemprofile\\.dnx\\bin;C:\\Program Files\\Microsoft DNX\\Dnvm\\;C:\\Program Files (x86)\\Windows Kits\\8.1\\Windows Performance Toolkit\\;C:\\Program Files\\Microsoft SQL Server\\130\\Tools\\Binn\\;C:\\Program Files\\PuTTY\\;C:\\Program Files (x86)\\Xoreax\\IncrediBuild;C:\\Program Files\\MATLAB\\R2017b\\runtime\\win64;C:\\Program Files\\MATLAB\\R2017b\\bin;C:\\WINDOWS\\System32\\OpenSSH\\;C:\\Program Files\\Git\\cmd;C:\\Program Files\\Git\\mingw64\\bin;C:\\Program Files\\Git\\usr\\bin;C:\\Program Files (x86)\\Microsoft VS Code\\bin;C:\\Users\\Matt\\Anaconda3;C:\\Users\\Matt\\Anaconda3\\Library\\mingw-w64\\bin;C:\\Users\\Matt\\Anaconda3\\Library\\usr\\bin;C:\\Users\\Matt\\Anaconda3\\Library\\bin;C:\\Users\\Matt\\Anaconda3\\Scripts;C:\\Users\\Matt\\AppData\\Local\\Microsoft\\WindowsApps;C:\\Program Files (x86)\\Microsoft VS Code\\bin;C:\\Users\\Matt\\AppData\\Local\\Programs\\Microsoft VS Code\\bin;C:\\Program Files\\Dell\\DW WLAN Card;C:\\WINDOWS\\system32;C:\\WINDOWS;C:\\WINDOWS\\System32\\Wbem;C:\\WINDOWS\\System32\\WindowsPowerShell\\v1.0\\;c:\\Program Files\\WIDCOMM\\Bluetooth Software\\;c:\\Program Files\\WIDCOMM\\Bluetooth Software\\syswow64;C:\\WINDOWS\\system32\\config\\systemprofile\\.dnx\\bin;C:\\Program Files\\Microsoft DNX\\Dnvm\\;C:\\Program Files (x86)\\Windows Kits\\8.1\\Windows Performance Toolkit\\;C:\\Program Files\\Microsoft SQL Server\\130\\Tools\\Binn\\;C:\\Program Files\\PuTTY\\;C:\\Program Files (x86)\\Xoreax\\IncrediBuild;C:\\Program Files\\MATLAB\\R2017b\\runtime\\win64;C:\\Program Files\\MATLAB\\R2017b\\bin;C:\\WINDOWS\\System32\\OpenSSH\\;C:\\Program Files\\Git\\cmd;C:\\Program Files\\Git\\mingw64\\bin;C:\\Program Files\\Git\\usr\\bin;C:\\Program Files (x86)\\Microsoft VS Code\\bin;C:\\Users\\Matt\\Anaconda3;C:\\Users\\Matt\\Anaconda3\\Library\\mingw-w64\\bin;C:\\Users\\Matt\\Anaconda3\\Library\\usr\\bin;C:\\Users\\Matt\\Anaconda3\\Library\\bin;C:\\Users\\Matt\\Anaconda3\\Scripts;C:\\Users\\Matt\\AppData\\Local\\Microsoft\\WindowsApps;C:\\Program Files (x86)\\Microsoft VS Code\\bin;C:\\Users\\Matt\\AppData\\Local\\Programs\\Microsoft VS Code\\bin",
         "PLATFORMIO_CALLER": "vscode"
     }
 }
\ No newline at end of file

source_code/Teensy35/src/main.cpp

+#include <Arduino.h>
+#include "motor_ctrl.h"
+#include "encoder.h"
+#include "utils.h"
+
+
+//BE AWARE COGGING POINTS MAY BE INBETWEEN STATES 
+//(THIS OFFSET MAY IMPACT THE HARD CODED POSITION)
+
+void setup()
+{
+    // Pin Jumper to decide whether we print our options or skip straight to 
+    // Precalculated Butt Control
+    checkDebugJumper();
+
+    motor_setup(); 
+    encoder_setup();
+
+    //deal with serial (might want this faster)
+    Serial.begin(9600);//Serial.begin(2000000); //FASTER!
+    // Hit space bar to start calibration
+    // Hit 'z' to run get hard coded offset
+    char prompt[] = ("\
+SPACE TO START CALIBRATION AND NORMAL OPERATIONS, \n\
+Z TO GET HARDCODED OFFSET \n\
+O TO START OPEN LOOP CONTROL\n\
+L TO LOCATE STATE POSITIONS\n\
+D TO START DIRECT POSITION CONTROL\n\
+B TO START BUTT CONTROL (NON-OPTIMIZED)\n\
+S TO START BUTT CONTROL (OPTIMIZED)\n\n\
+Y TO DEBUG LOW STATE BY STATE\n\
+U TO DEBUG_POT_0_SCALED\n\
+K TO DEBUG ENCODER\n\
+H TO TO SEND SPECIFIC PHASES DEBUG MOTOR\n");
+
+    short incomingByte = 0;
+    while(1)
+    {
+
+        if(!getDebugOn()) {
+            
+            charge_bootstrap_capacitors();
+            motor_butt_control_precalculated();
+        }
+
+        Serial.println(prompt);  
+        delay(200);  // do not go too fast!
+        if (Serial.available()) {
+            incomingByte = Serial.read();
+        }
+        if(incomingByte == ' ')//space bar
+        {
+            break;
+        }
+        else if(incomingByte == 'z') //'z'
+        {
+            charge_bootstrap_capacitors();
+            do_hard_coded_offset();// run the set zero
+        }
+        else if(incomingByte == 'o') //'o'
+        {
+            charge_bootstrap_capacitors();
+            open_loop_control();
+        }
+        else if(incomingByte == 'l') //'l'
+        {
+            charge_bootstrap_capacitors();
+            locate_state_positions();
+        }
+        else if (incomingByte == 'd') //'d'
+        {
+            charge_bootstrap_capacitors();
+            direct_position_control();
+        }
+        else if (incomingByte == 'b') //'b'
+        {
+            charge_bootstrap_capacitors();
+            motor_butt_control_inefficient();
+        }
+        else if (incomingByte == 's') //'s'
+        {
+            charge_bootstrap_capacitors();
+            motor_butt_control_precalculated();
+        }
+        else if (incomingByte == 'y') // 'y'
+        {
+            debug_low_state_by_state();
+        }
+        else if (incomingByte == 'u') //'u'
+        {
+            debug_pot_0_scaled();
+        }
+        else if (incomingByte == 'k') //'k'
+        {
+            debug_encoder();
+        }
+        else if (incomingByte == 'h') //'h'
+        {
+            debug_motor();
+        }
+
+    }
+
+    charge_bootstrap_capacitors();  
+    int calibration_return = calibrate_encoder();
+    if(calibration_return == -1)
+    {
+        while(1){//error out
+            delay(900);
+            Serial.println("CALIBRATION FAILED, REBOOT");
+        }
+    }
+    Serial.println("CALIBRATION COMPLETE");
+    
+    return;
+}
+
+void loop()
+{
+    //hold on to the old phase number
+    static int last_phase = 0;
+
+    // get the current encoder tics (this does the math to offset)
+    int position = get_wheel_position_ticks();
+    // get position within current electrical revolution
+    int ele_position = get_elec_rev_position_ticks(position);
+    // get the phase number that corresponds to this ele position
+    int phase = get_phase_number(ele_position);
+    phase = (phase % 6) + 1;
+
+    //if we have a new phase, set the new phase
+    set_block_phase(phase);
+
+
+}
\ No newline at end of file