Merge branch 'master' of gitlab.eecs.umich.edu:mattdr/supermileage_2018

source_code/Teensy35/src/main.cpp

@@ -59,6 +59,7 @@ H TO TO SEND SPECIFIC PHASES DEBUG MOTOR\n");
                 do_hard_coded_offset();// run the set zero
                 break;
             case 'o':
+            //Use this when we need to use o-scope to find a bad ABC channel.
                 charge_bootstrap_capacitors();
                 open_loop_control();
                 break;

source_code/Teensy35/src/motor_ctrl.cpp

@@ -97,7 +97,7 @@ void motor_setup(void) {
     pinMode(time_led, OUTPUT);
     digitalWrite(time_led, LOW);
 
-    //setup the pot_0_timer and the coast_timer to run thirty times a second
+    //setup the pot_0_timer and the coast_timer to run thirty times a second to find value from pot
     pot_0_timer.begin(pot_0_speed_ISR, 33333);
 }
 
@@ -379,6 +379,7 @@ void motor_butt_control_precalculated(void)
 
         set_phase_float(f1,f2,f3);
         digitalWrite(time_led, LOW);
+        //TODO: Remove the delay
         delayMicroseconds(42); // This was calculated to keep the code
                               // from running faster than the period 
                               // of the high side freq

source_code/Teensy35/src/utils.cpp

@@ -155,7 +155,7 @@ int debug_pot_0_scaled()
 // prints it to the command line and then turns everything off
 void do_hard_coded_offset(void)
 {
-    int rtn = calibrate_encoder();
+    calibrate_encoder();
     while(1)
     {
         int my_position = 0;