I'd amend the title to read "writing maintainable software is hard." I currently work on a codebase, primarily written in C++ targeting embedded. There's an ov

I'd amend the title to read "writing maintainable software is hard." I currently work on a codebase, primarily written in C++ targeting embedded. There's an overwhelming amount of technical debt. There are literally comments in certain critical methods saying "//DO NOT MODIFY", because nobody knows what the method actually does. Don't get me started on the maintainability headaches involved with the massive amount of inline ASM. I have extremely intelligent people on my team. PhDs and patent holders. It becomes problematic when someone who's an expert in MATLAB attempts to translate her code into C++. Keep in mind, this codebase is used by millions of people across the globe. /rant