fixing detached head

source_code/Teensy35/.vscode/extensions.json

-{
-	// See http://go.microsoft.com/fwlink/?LinkId=827846
-	// for the documentation about the extensions.json format
-	"recommendations": [
-		"platformio.platformio-ide"
-	]
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"platformio.platformio-ide"
+	]
 }
\ No newline at end of file

source_code/Teensy35/src/encoder.cpp

@@ -23,7 +23,7 @@ int Zoffset = 0;
 // This is the difference in encoder tics from the Z index to 
 // the electrical encoder zero (which is found by powering the 
 // AB block and waiting for the motor to settle)
-int hard_coded_offset = 2425 - 50;
+int hard_coded_offset = -420 - 50;
 
 
 //Invert position to invert position add 341 to any offset

source_code/Teensy35/src/motor_ctrl.cpp

@@ -26,7 +26,7 @@ const int led = 13;
 int const SCALE_FACTOR = 240;
 
 // This is the PWM frequency and it is very important
-int FREQ = 8000;//22000; //8000 was our original value;
+int FREQ = 22000;//22000; //8000 was our original value;
 
 // This is the lower limit of PWM frequency 
 // its important for not breaking gate drivers