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Made some modifications for testing in the main loop
added comments explaining the columns
made some fixes to robot debug. Also added the current regulation to Charging.c, which seems to work!
works for real this time! I haven't tried actually running a current through the board, but without that it shows proper debug values and Robot Debug/main.c formats them nicely!
IT WORKS! i cleared portb. oops.....
working on getting I2C working. its not.
fixed robot debug part
PWM hack works in that it increases frequency. I2C breaks everything. Added robot debug code which will just print everything it gets from i2c... hopefully