add comments

spule.c

@@ -59,7 +59,7 @@ void set_spooling_speed(uint16_t speed){
 }
 
 void do_spule(){
-    //PORTH &= ~(1<<5);
+    // Translatoric axis homeing code
     if(read_Input(IN_SPULE_HOME, LEVEL) && spule_trans_homed == 0){
         spule_trans_homed = 1;
         spule_trans_pos = 0;
@@ -71,12 +71,15 @@ void do_spule(){
         OCR1A = ICR1/2;
     }
 
+    // if not homed goto home
     if(!spule_trans_homed){
         ICR1 = 100;
         OCR1A = 50;
         set_Output(MOTOR_TRANS_DIR, 1); // direction: front
         TCCR1B |= _BV(CS11); //TURN ON
     }
+
+    // manual forwarding if button is held
     else if(!get_abzug_state()){
         if(read_Input(BTN_WICKELN_EIN, LEVEL)){
             set_spooling_speed(300);
@@ -85,12 +88,16 @@ void do_spule(){
         else
             spule_onoff(0);
     }
+
+    // normal operation
     else{
         /* speed regulation - keep taenzer at 10% */
         float p = 100.0/(int32_t)(taenzer_state.pos/1000);
         p-=1;
         p/=2;
         p+=1;
+        //tmp = (int32_t)(taenzer_state.pos/10000);
+        //printf("%ld\n", tmp);
 
         //printf("temp1: %d\n", tmp);
         //TODO fix bounds
@@ -111,6 +118,9 @@ void do_spule(){
         ICR5 = ctrl_speed;
         OCR5C = ICR5/2;
 
+        //printf("icr: %d\n", ICR5);
+
+
         ICR1 = ICR5/TRANS_ROT_FACTOR;
         OCR1A = ICR1/2;
 
@@ -151,7 +161,8 @@ ISR(TIMER5_OVF_vect) {
     if(steps == 50000){
         windings++;
         steps=0;
-        printf("windungen: %d\n", windings);
+        printf("windungen: %d\t", windings);
+        printf("trans pos: %ld\n", taenzer_state.pos);
     }
 
     if(windings == windings_wakeup){
@@ -179,5 +190,5 @@ ISR(TIMER5_OVF_vect) {
         OCR1A = ICR1/2;
         printf("nachlauf abbauen\n");
     }
-    //PORTH |= (1<<5);
+    //;PORTH |= (1<<5);
 }