include changes to motor control bindings + minor bug fixes

software/firmware/circuitpython-main/ports/atmel-samd/common-hal/motor_control/Accel.c

@@ -272,10 +272,10 @@ acceleration get_raw_accel(ACCEL_TYPE side){
       accel = read_bird_accelerometer(&center_sensor);
     }
     else if(side==RIGHTWING){
-      accel = read_i2c_accelerometer(&right_wing);
+      accel = read_i2c_accelerometer(right_wing);
     }
     else if (side==LEFTWING) {
-      accel = read_i2c_accelerometer(&left_wing);
+      accel = read_i2c_accelerometer(left_wing);
     }
     else
         printf("Invalid accelerometer choice. Please select LEFTWING(0), CENTER(1) or RIGHTWING(2)");

software/firmware/circuitpython-main/ports/atmel-samd/common-hal/motor_control/Accel.h

@@ -24,10 +24,7 @@ typedef uint8_t ACCEL_TYPE;
 void init_accels(void);
 acceleration get_raw_accel (uint8_t);
 void accel_reset(uint8_t);
-<<<<<<< HEAD
 void init_accels(void);
-=======
->>>>>>> spi-driver-refactor
 
 void test_spi_reading(void);
 void test_spi_reset(void);

software/firmware/circuitpython-main/ports/atmel-samd/common-hal/motor_control/SPI.c

@@ -15,6 +15,11 @@
 
 static bool initted = false;
 
+
+/*
+    Checks if sensor has been initted. If not:
+    Initializes the Feather M4 SPI bus, selected GPIO pin, and accelerometer object for a new sensor object
+*/
 void spi_init(spi_sensor_t* device){
     if(initted){
         return;
@@ -70,7 +75,7 @@ static void *_read_register (spi_sensor_t *device, uint8_t reg, size_t length)
     return device->gbuf;
 }
 
-//Uncomment when needed since circuitpython doesn't compile with warnings
+// Send a register and value to write within that register over the SPI bus using a buffer
 void spi_write_register_byte(spi_sensor_t *device, uint8_t reg, uint8_t value)
 {
     device->gbuf[0] = reg & 0x7F;
@@ -80,6 +85,7 @@ void spi_write_register_byte(spi_sensor_t *device, uint8_t reg, uint8_t value)
     common_hal_adafruit_bus_device_spidevice_exit(&device->sensor);
 }
 
+// Reads an individual byte from a 
 uint8_t spi_read_register_byte(spi_sensor_t *device, uint8_t reg)
 {
     return *(int *)_read_register(device, reg, 1);

software/firmware/circuitpython-main/shared-bindings/motor_control/__init__.c

@@ -61,12 +61,8 @@ MP_DEFINE_CONST_FUN_OBJ_KW(control_motor_tasks_obj, 1, control_motor_obj_tasks);
 
 // This is the function that initializes the accelerometers. Called once in python script.
 
-<<<<<<< HEAD
 STATIC mp_obj_t control_motor_obj_init_accels(void) {
   init_accels();
-=======
-STATIC mp_obj_t control_motor_obj_init_spi(void) {
->>>>>>> spi-driver-refactor
   return mp_const_none;
 }