I agree with many of the others posts in this thread.
Here is my 2 cents:
- the level of commenting shown by the OP is excessive and not necessarily helpful as it clutters the code and does not really provide any added information;
- thoughtful comments on why something is done in the code is generally much more useful than what is being done;
- a caveat to the previous point: if the code is a bit complicated it can be very helpful to provide a comment that explains the algorithm being implemented at a higher level and/or any issues that were encountered when implementing it a different way that seemed simpler but didn't work;
- including comments with all constants being defined that state the units and how the constant was determined are very useful when making adjustments at competition;
- other coding standards such as using consistent and descriptive variable names and avoiding confusing syntax (e.g. trying to put too much into a single line of code), as this will make your life much less stressful when you are working on your code in the pit.
Good Luck!