tnkrjrf

1 files changed, 4 insertions, 1 deletions

diff --git a/robot/mode_chrg.c b/robot/mode_chrg.c
index 5b733af..7cf9a9c 100644
--- a/robot/mode_chrg.c
+++ b/robot/mode_chrg.c
@@ -4,7 +4,7 @@
 #include "movement.h"
 #include "orangutan_shim.h"
 
-int g_w2_charged_status;
+int g_w2_charged_status;	//used to detect the charging station (once)
 
 void w2_short_drive() {
 	set_motors(50, 50);
@@ -12,6 +12,7 @@ void w2_short_drive() {
 	set_motors(0, 0);
 }
 
+//charging station
 void w2_home() {
 	set_motors(0, 0);
 	delay_ms(150);
@@ -28,6 +29,7 @@ void w2_home() {
 	delay_ms(2000);
 }
 
+//crosswalk from charging station back to maze
 void w2_charge_cross_walk() {
 	if (g_w2_transition == 0) {
 		set_motors(-30, 30);
@@ -59,6 +61,7 @@ void w2_charge_cross_walk() {
 	}
 }
 
+//main function for charge mode
 void w2_mode_chrg() {
 	unsigned int last_proportional = 0;
 	long integral				   = 0;