added verbose flag + unsuccsesfully tried to make soft reboot compliant

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

 #include "ports/atmel-samd/common-hal/motor_control/PID.h"
 #include "ports/atmel-samd/common-hal/motor_control/Control.h"
 #include "peripherals/samd/pins.h"
+#include "py/runtime.h"
 
 #include <stdio.h>
 #include <stdbool.h>
@@ -19,6 +20,7 @@
 #define RESET_NUM_WING (float) 1000.0 // this error should pause the wings + reset motors 
 #define EPSILON 0.005 // The threshold in which two floats are conisdered equal
 
+static bool verbose = true;
 
 extern void set_pwm(bool left, bool up, float duty);
 
@@ -57,7 +59,7 @@ float get_wing_angle(bool left){ ///Will take in sensor values from WING acceler
         bird.z < 9.0 || bird.z > 11.0) {
       
       // Return non-possible number because bird acceleration does not make sense (garbage value)
-      printf("CENTER RAW: %f %f %f \t", (double)bird.x, (double)bird.y, (double)bird.z);
+      printf("Center accel halting. CENTER RAW: %f %f %f \t", (double)bird.x, (double)bird.y, (double)bird.z);
       return ERROR_HALT;
     }
 
@@ -68,10 +70,14 @@ float get_wing_angle(bool left){ ///Will take in sensor values from WING acceler
      //accelerometer value is read (for the test done in the Python script, the pinout for the body accelerometer was used)
     if (left) {      //for left wing
       accel = get_raw_accel(LEFTWING); 
-      printf("LEFT RAW: %f %f %f \t", (double)accel.x, (double)accel.y, (double)accel.z);
+      if(verbose) {
+        printf("LEFT RAW: %f %f %f \t", (double)accel.x, (double)accel.y, (double)accel.z);
+      }
     } else {          //for right wing
       accel = get_raw_accel(RIGHTWING);
-      printf("RIGHT RAW: %f %f %f \t", (double)accel.x, (double)accel.y, (double)accel.z);
+      if(verbose) {
+        printf("RIGHT RAW: %f %f %f \t", (double)accel.x, (double)accel.y, (double)accel.z);
+      }
     }
     accel_x = accel.x;                         //X acceleration value from wing sensor
     accel_y = accel.y;                        //Y acceleration value from wing sensor 
@@ -139,12 +145,8 @@ void set_wing_angle(bool left, int degrees_C){
 
       if(left) {
         printf("Current_angle: %f, left wing error; halting\t", (double)current_angle);
-        // acceleration accel = get_raw_accel(LEFTWING); 
-        // printf("LEFT RAW: %f %f %f \t", (double)accel.x, (double)accel.y, (double)accel.z);
       }else {
         printf("Current_angle: %f, right wing error; halting\n", (double)current_angle);
-        // acceleration accel = get_raw_accel(RIGHTWING); 
-        // printf("RIGHT RAW: %f %f %f \t", (double)accel.x, (double)accel.y, (double)accel.z);
       }
       
       return;
@@ -207,22 +209,31 @@ void set_wing_angle(bool left, int degrees_C){
 
     if (current_angle < degrees_C){
         if(left){ //send the PWM signal to move the left wing up
+          if(verbose) {
             printf("LEFT UP: Goal: %d, current: %f \t", degrees_C, (double)current_angle);
-            set_pwm(LEFT,UP,duty);
+          }
+          set_pwm(LEFT,UP,duty);
         }
         else{ //send the PWM signal moves the right wing up 
+          if(verbose) {
             printf("RIGHT UP: Goal: %d, current: %f \n", degrees_C, (double)current_angle);
-            set_pwm(RIGHT,UP,duty);
+          }
+          set_pwm(RIGHT,UP,duty);
         }
 
     } else {
         if(left){  //send a PWM signal to stop the left wing (TODO: program this so that it moves the left wing down)
+          if(verbose) {
+
             printf("LEFT DOWN: Goal: %d, current: %f\t", degrees_C, (double)current_angle);
-            set_pwm(LEFT, DOWN, duty);
+          }
+          set_pwm(LEFT, DOWN, duty);
         }
         else{      //send a PWM signal to stop the right wing (TODO: program this so that it moves the right wing down)
+          if(verbose) {
             printf("RIGHT DOWN: Goal: %d, current: %f\n", degrees_C, (double)current_angle);
-            set_pwm(RIGHT, DOWN, duty);
+          }
+          set_pwm(RIGHT, DOWN, duty);
         }
     }
 }

software/firmware/circuitpython-main/shared-module/ee285/__init__.c

@@ -171,17 +171,25 @@ static bool motor_control_initted = false;
 
 void shared_module_ee285_motor_control_loop_init(void) {
   if(motor_control_initted) {
-    return;
+    printf("motor control loop already initted!\n");
   }
   
-  // Init accels
-  init_accels();
+  // Init accels only if motor control not already initted
+  if(!motor_control_initted){
+    printf("initting accels\n");
+    init_accels();
+    // Init interrupts
+    printf("initting interrupts\n");
+    common_hal_motor_construct();
+  }
 
   // Stretch goal: refactor PWM so that it has an explicit init, and then init 
   // PWM here
 
-  // Init interrupts
-  common_hal_motor_construct();
+  // Start interrupts any time motor control loop is initted, regardless of whether it's the first time
+  // because it seems like on soft reboots, while static variables remain set, interrupts
+  // need to be re started.
+  printf("starting interrupts\n");
   common_hal_motor_PID();
 
   motor_control_initted = true;