Testing after we broke a mosfet

source_code/Teensy32/src/encoder.cpp

@@ -20,7 +20,7 @@ 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 = -1051;
+int hard_coded_offset = 321;
 
 // how long in microsec (us) to delay between phases while calibrating
 // the wheel
@@ -66,7 +66,7 @@ void encoder_setup(void)
     //xPosn.zeroFTM(); //This zeros the counter
 
     //setup the speed timer to run ever 1 sec
-    speed_timer.begin(print_speed_ISR, 100000);
+    speed_timer.begin(print_speed_ISR, 1000000);
 
     delay(5000); //sit tight for a bit
 }

source_code/Teensy32/src/motor_ctrl.cpp

@@ -30,7 +30,7 @@ void motor_butt_control_precalculated(void);
 void motor_setup(void) {
     // put your setup code here, to run once:
 
-    float freq = 8000.00;//8000;
+    float freq = 8000.00; //8000;
 
     pinMode(L1, OUTPUT);
     pinMode(L2, OUTPUT);
@@ -57,13 +57,13 @@ void turn_all_off() {
     digitalWrite(L3, LOW);
 }
 
-int one_to_255(int x)
+int one_to_255(int x) // this funct. pulls in pot values and scales them
 {
     if (x == 1)
     {
         float potval = analogRead(A0);
         potval = potval/1024;
-        potval = potval * 20;
+        potval = potval * 40;
         return (int)potval; //read from pot
     }
     else{