message: minor wordings and comments
diff: @@ -167,8 +167,8 @@ bool Encoder::run_index_search() {
  index_found_ = false;
  set_idx_subscribe();
  - bool status = axis_->run_lockin_spin(axis_->config_.calibration_lockin, false);
  - return status;
  + bool success = axis_->run_lockin_spin(axis_->config_.calibration_lockin, false);
  + return success;
  }
  bool Encoder::run_direction_find() {
  @@ -179,9 +179,9 @@ bool Encoder::run_direction_find() {
  lockin_config.finish_on_distance = true;
  lockin_config.finish_on_enc_idx = false;
  lockin_config.finish_on_vel = false;
  - bool status = axis_->run_lockin_spin(lockin_config, false);
  + bool success = axis_->run_lockin_spin(lockin_config, false);
  - if (status) {
  + if (success) {
  // Check response and direction
  if (shadow_count_ > init_enc_val + 8) {
  // motor same dir as encoder
  @@ -194,7 +194,7 @@ bool Encoder::run_direction_find() {
  }
  }
  - return status;
  + return success;
  }
  // @brief Turns the motor in one direction for a bit and then in the other
  @@ -292,7 +292,6 @@ bool Encoder::run_offset_calibration() {
  return false;
  }
  - //TODO avoid recomputing elec_rad_per_enc every time
  // Check CPR
  float elec_rad_per_enc = axis_->motor_.config_.pole_pairs * 2 * M_PI * (1.0f / (float)(config_.cpr));
  float expected_encoder_delta = config_.calib_scan_distance / elec_rad_per_enc;
  @@ -374,6 +373,7 @@ void Encoder::sample_now() {
  } break;
  }
  + // Sample all GPIO digital input data registers, used for HALL sensors for example.
  for (size_t i = 0; i < sizeof(ports_to_sample) / sizeof(ports_to_sample[0]); ++i) {
  port_samples_[i] = ports_to_sample[i]->IDR;
  }
  