From 11712df9e2665b5b684a286196eba29195a710e4 Mon Sep 17 00:00:00 2001
From: Greg <lewin.gc@gmail.com>
Date: Sun, 9 Jan 2022 20:48:46 -0500
Subject: [PATCH] comments

---
 src/Romi32U4Motors.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/Romi32U4Motors.cpp b/src/Romi32U4Motors.cpp
index 3c74371..c7e8d27 100644
--- a/src/Romi32U4Motors.cpp
+++ b/src/Romi32U4Motors.cpp
@@ -124,7 +124,8 @@ void Romi32U4Motor::setTargetSpeed(int16_t target)
 
     if(ctrlMode != CTRL_SPEED)
     {
-        //when new target speeds are set, reset the error integral
+        // Reset the error integral if we are switching from another mode
+        // Otherwise, the robot may jump due to residual integral
         pidCtrl.resetSum();
     }