From fe511ab63d31c731bad6c34592587ec16097ad72 Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:15:27 -0600
Subject: [PATCH 01/13] added comments for IMU function headers

---
 src/main.cpp | 40 +++++++++++++++++++++++++++++-----------
 1 file changed, 29 insertions(+), 11 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 90432d7..70b05a9 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -55,6 +55,10 @@ int mspeed2, mspeed4 = MOTOR_MIN; // Motors along the y-axis
 //=> Changing their speeds will affect the roll
 
 
+/*
+*   Function to initialize the Gyro sample rate and give it the base offset value to give
+*   better calculations in the GetAngleMeasurements function
+*/
 void InitGyro()
 {
     // Set the internal sample rate to 1kHz and set the sample
@@ -66,10 +70,10 @@ void InitGyro()
     // Calculate an average offset for the gyro
     for (int i = 0; i < OFFSET_AVG_SAMPLES; i++)
     {
-    	gyroOffsetX += gyro.getGyroX();
-    	gyroOffsetY += gyro.getGyroY();
+        gyroOffsetX += gyro.getGyroX();
+        gyroOffsetY += gyro.getGyroY();
     }
-    
+    //use the average calculated while getting the samples to give a more accurate offset value
     gyroOffsetX /= OFFSET_AVG_SAMPLES;
     gyroOffsetY /= OFFSET_AVG_SAMPLES;
     
@@ -78,6 +82,12 @@ void InitGyro()
     #endif
 }
 
+
+/*
+* initialize the accelerometer and set the sample rate frequency 
+* Also get the base offset of the accelerometer at startup to give better
+* measurements in the GetAnglemeasurements function
+*/
 void InitAccelerometer()
 {
     // Put the ADXL345 into standby mode to configure the device
@@ -100,7 +110,7 @@ void InitAccelerometer()
         acclOffsetY += fg.y;
         acclOffsetZ += (fg.z - 1);
     }
-    
+    //Using the offsets sames get the average value to give us a more accurate value
     acclOffsetX /= OFFSET_AVG_SAMPLES;
     acclOffsetY /= OFFSET_AVG_SAMPLES;
     acclOffsetZ /= OFFSET_AVG_SAMPLES;
@@ -110,12 +120,24 @@ void InitAccelerometer()
     #endif
 }
 
+
+/*
+*  Initializes the Gyro and the accelerometer at startup
+*/
 void InitIMU(void)
 {
-    InitGyro();
-    InitAccelerometer();
+    InitGyro();  //initualize the gyro
+    InitAccelerometer(); //initialize the accelerometer
 }
 
+
+/*
+* function using a sample time to calculate the current angle over time
+* the main features of this function are the filter for the accelerometer
+* the measurements gathered from the gyro to get the current angle 
+* and the complimentary filter we used to get our accurate measurement of our
+* angle at any given point in time
+*/
 void GetAngleMeasurements()
 {
     if (((tcurr = t.read_ms()) - tprev) >= IMU_SAMPLE_TIME)
@@ -148,10 +170,6 @@ void GetAngleMeasurements()
     }
 }
 
-/*
- * Updates the PID inputs and outputs. This function is called every iteration
- * of the main control loop, but PID is only updated at a 100Hz rate.
- */
 void ControlUpdate()
 {
     // Update the PID control values, and issue a PID computation
@@ -205,7 +223,7 @@ void SetMotor(uint8_t motor, uint16_t value) {
     pc.printf("set motor %d to %d\r\n", motor, value);
     #endif
 
-    // Change each individual motor/ESC, or update throttle
+    // Change each individual motor/ESC in manual mode or set to automatic, or update throttle
     switch(motor) {
         case ESC_1:
             motormode = MANUAL;

From cf0eb79999b37031edaf64fd0f3bed2e372d891c Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:23:32 -0600
Subject: [PATCH 02/13] Adjusted spacing

---
 src/main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 70b05a9..20feb4b 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -56,8 +56,8 @@ int mspeed2, mspeed4 = MOTOR_MIN; // Motors along the y-axis
 
 
 /*
-*   Function to initialize the Gyro sample rate and give it the base offset value to give
-*   better calculations in the GetAngleMeasurements function
+* Function to initialize the Gyro sample rate and give it the base offset value to give
+* better calculations in the GetAngleMeasurements function
 */
 void InitGyro()
 {

From feb714d107f805bb20a3398f361b0f2d0a292aaa Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:25:04 -0600
Subject: [PATCH 03/13] Adjusted spacing on offset

---
 src/main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 20feb4b..9c80b63 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -70,8 +70,8 @@ void InitGyro()
     // Calculate an average offset for the gyro
     for (int i = 0; i < OFFSET_AVG_SAMPLES; i++)
     {
-        gyroOffsetX += gyro.getGyroX();
-        gyroOffsetY += gyro.getGyroY();
+      gyroOffsetX += gyro.getGyroX();
+      gyroOffsetY += gyro.getGyroY();
     }
     //use the average calculated while getting the samples to give a more accurate offset value
     gyroOffsetX /= OFFSET_AVG_SAMPLES;

From cb8ae0186f93410b2e9daab613ec7cb2d2122fc6 Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:26:30 -0600
Subject: [PATCH 04/13] added periods to show new sentences in comments

---
 src/main.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 9c80b63..9ad7854 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -57,7 +57,7 @@ int mspeed2, mspeed4 = MOTOR_MIN; // Motors along the y-axis
 
 /*
 * Function to initialize the Gyro sample rate and give it the base offset value to give
-* better calculations in the GetAngleMeasurements function
+* better calculations in the GetAngleMeasurements function.
 */
 void InitGyro()
 {
@@ -84,9 +84,9 @@ void InitGyro()
 
 
 /*
-* initialize the accelerometer and set the sample rate frequency 
+* initialize the accelerometer and set the sample rate frequency.
 * Also get the base offset of the accelerometer at startup to give better
-* measurements in the GetAnglemeasurements function
+* measurements in the GetAnglemeasurements function.
 */
 void InitAccelerometer()
 {
@@ -122,7 +122,7 @@ void InitAccelerometer()
 
 
 /*
-*  Initializes the Gyro and the accelerometer at startup
+*  Initializes the Gyro and the accelerometer at startup.
 */
 void InitIMU(void)
 {
@@ -132,11 +132,11 @@ void InitIMU(void)
 
 
 /*
-* function using a sample time to calculate the current angle over time
+* function using a sample time to calculate the current angle over time.
 * the main features of this function are the filter for the accelerometer
 * the measurements gathered from the gyro to get the current angle 
 * and the complimentary filter we used to get our accurate measurement of our
-* angle at any given point in time
+* angle at any given point in time.
 */
 void GetAngleMeasurements()
 {

From cb234b1f0b3a0c47a22f773c7060be51b4def8fe Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:27:50 -0600
Subject: [PATCH 05/13] undid comment change

---
 src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main.cpp b/src/main.cpp
index 9ad7854..8a8f6e9 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -223,7 +223,7 @@ void SetMotor(uint8_t motor, uint16_t value) {
     pc.printf("set motor %d to %d\r\n", motor, value);
     #endif
 
-    // Change each individual motor/ESC in manual mode or set to automatic, or update throttle
+    // Change each individual motor/ESC, or update throttle
     switch(motor) {
         case ESC_1:
             motormode = MANUAL;

From 7bcafa63d454e6e65bb125b6571dca43dec50de1 Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:28:43 -0600
Subject: [PATCH 06/13] fixed typo

---
 src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main.cpp b/src/main.cpp
index 8a8f6e9..2565925 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -126,7 +126,7 @@ void InitAccelerometer()
 */
 void InitIMU(void)
 {
-    InitGyro();  //initualize the gyro
+    InitGyro();  //initialize the gyro
     InitAccelerometer(); //initialize the accelerometer
 }
 

From 782207a072a1d406e36de9e02387b9943c7937be Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:31:07 -0600
Subject: [PATCH 07/13] Fixed comment spacing and capitalized first letters

---
 src/main.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 2565925..0a28fba 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -73,7 +73,7 @@ void InitGyro()
       gyroOffsetX += gyro.getGyroX();
       gyroOffsetY += gyro.getGyroY();
     }
-    //use the average calculated while getting the samples to give a more accurate offset value
+    // Use the average calculated while getting the samples to give a more accurate offset value
     gyroOffsetX /= OFFSET_AVG_SAMPLES;
     gyroOffsetY /= OFFSET_AVG_SAMPLES;
     
@@ -84,7 +84,7 @@ void InitGyro()
 
 
 /*
-* initialize the accelerometer and set the sample rate frequency.
+* Initialize the accelerometer and set the sample rate frequency.
 * Also get the base offset of the accelerometer at startup to give better
 * measurements in the GetAnglemeasurements function.
 */
@@ -110,7 +110,7 @@ void InitAccelerometer()
         acclOffsetY += fg.y;
         acclOffsetZ += (fg.z - 1);
     }
-    //Using the offsets sames get the average value to give us a more accurate value
+    // Using the offsets sames get the average value to give us a more accurate value
     acclOffsetX /= OFFSET_AVG_SAMPLES;
     acclOffsetY /= OFFSET_AVG_SAMPLES;
     acclOffsetZ /= OFFSET_AVG_SAMPLES;
@@ -122,7 +122,7 @@ void InitAccelerometer()
 
 
 /*
-*  Initializes the Gyro and the accelerometer at startup.
+* Initializes the Gyro and the accelerometer at startup.
 */
 void InitIMU(void)
 {
@@ -132,8 +132,8 @@ void InitIMU(void)
 
 
 /*
-* function using a sample time to calculate the current angle over time.
-* the main features of this function are the filter for the accelerometer
+* Function using a sample time to calculate the current angle over time.
+* The main features of this function are the filter for the accelerometer
 * the measurements gathered from the gyro to get the current angle 
 * and the complimentary filter we used to get our accurate measurement of our
 * angle at any given point in time.

From 3d80e8f87bac8433fce1e6b9a63566472543ee30 Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:32:15 -0600
Subject: [PATCH 08/13] Fixed comment spacing and capitalized first letters 2.0

---
 src/main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 0a28fba..8128c63 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -126,8 +126,8 @@ void InitAccelerometer()
 */
 void InitIMU(void)
 {
-    InitGyro();  //initialize the gyro
-    InitAccelerometer(); //initialize the accelerometer
+    InitGyro();  // Initialize the gyro
+    InitAccelerometer(); // Initialize the accelerometer
 }
 
 

From e30ce2619394f99e534544817f3154359ce4f6f9 Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:35:16 -0600
Subject: [PATCH 09/13] added comments that were deleted back in

---
 src/main.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main.cpp b/src/main.cpp
index 8128c63..4e4304e 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -170,6 +170,10 @@ void GetAngleMeasurements()
     }
 }
 
+/*
+ * Updates the PID inputs and outputs. This function is called every iteration
+ * of the main control loop, but PID is only updated at a 100Hz rate.
+ */
 void ControlUpdate()
 {
     // Update the PID control values, and issue a PID computation

From e5cf53889d8993b6c22ce3c607b3d028f9ab7329 Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:37:34 -0600
Subject: [PATCH 10/13] fixed comment for gyro offset

---
 src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main.cpp b/src/main.cpp
index 4e4304e..85a94fa 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -73,7 +73,7 @@ void InitGyro()
       gyroOffsetX += gyro.getGyroX();
       gyroOffsetY += gyro.getGyroY();
     }
-    // Use the average calculated while getting the samples to give a more accurate offset value
+    // Uses the gyroOffset calculated above while getting the samples to give a more accurate offset value on startup for the gyro
     gyroOffsetX /= OFFSET_AVG_SAMPLES;
     gyroOffsetY /= OFFSET_AVG_SAMPLES;
     

From 28cc8cbf078d98c9a064436a12bed0ad6ff2fd84 Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:38:45 -0600
Subject: [PATCH 11/13] changed comment for accel offset

---
 src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main.cpp b/src/main.cpp
index 85a94fa..53ccfc7 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -110,7 +110,7 @@ void InitAccelerometer()
         acclOffsetY += fg.y;
         acclOffsetZ += (fg.z - 1);
     }
-    // Using the offsets sames get the average value to give us a more accurate value
+    // Using the accelOffsets samples above to get the average value to give us a more accurate value startup offset value for the accel.
     acclOffsetX /= OFFSET_AVG_SAMPLES;
     acclOffsetY /= OFFSET_AVG_SAMPLES;
     acclOffsetZ /= OFFSET_AVG_SAMPLES;

From e976cfa3b17b56cc2c0eaa72dfb2c4fb585f5011 Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:40:57 -0600
Subject: [PATCH 12/13] updated initGyro function header

---
 src/main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 53ccfc7..cdb3a95 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -56,8 +56,8 @@ int mspeed2, mspeed4 = MOTOR_MIN; // Motors along the y-axis
 
 
 /*
-* Function to initialize the Gyro sample rate and give it the base offset value to give
-* better calculations in the GetAngleMeasurements function.
+* Function to initialize the Gyro sample rate. 
+* Measure and Set the base offset value for the gyro for better calculations in the GetAngleMeasurements function.
 */
 void InitGyro()
 {

From eed78e73413953f8268ffe3387a0989ac507cea4 Mon Sep 17 00:00:00 2001
From: sayoung388 <sayoung388@gmail.com>
Date: Wed, 27 Apr 2016 12:42:39 -0600
Subject: [PATCH 13/13] changed accel init function header comments

---
 src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main.cpp b/src/main.cpp
index cdb3a95..9a741c3 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -85,7 +85,7 @@ void InitGyro()
 
 /*
 * Initialize the accelerometer and set the sample rate frequency.
-* Also get the base offset of the accelerometer at startup to give better
+* Measure and set the base offset of the accelerometer at startup to give better
 * measurements in the GetAnglemeasurements function.
 */
 void InitAccelerometer()