It wasn’t a small micro (16 bit dspic) and the code was far from fast. I think it was just cargo culting. He also removed all floats because “integer math is fa

It wasn’t a small micro (16 bit dspic) and the code was far from fast. I think it was just cargo culting. He also removed all floats because “integer math is faster” but never tested it. Put floats back in and sped things up a couple orders of magnitude. Another highlight, no main loop. Everything was in an interrupt. This allowed the code to run despite a very broken i2c driver because it was given a low enough priority that other tasks could preempt it while it was hanging indefinitely.