diff --git a/Firmware/MotorControl/commands.c b/Firmware/MotorControl/commands.c
index cc5f2359..e107aa48 100644
--- a/Firmware/MotorControl/commands.c
+++ b/Firmware/MotorControl/commands.c
@@ -235,17 +235,14 @@ void motor_parse_cmd(uint8_t* buffer, int len, SerialPrintf_t response_interface
         if (numscan == 1) {
             print_monitoring(limit);
         }
-    } else if (buffer[0] == 't') {
-        //printf("Running anti-cogging.\n");
+    } else if (buffer[0] == 't') { // Run Anti-Cogging Calibration
         for (int i = 0; i < num_motors; i++) {
+            // Ensure the cogging map was correctly allocated earlier and that the motor is capable of calibrating
             if (motors[i].cogging_map != NULL && motors[i].error == ERROR_NO_ERROR) {
-                //printf("Motor %d running\n",i);
                 if (anti_cogging_calibration(&motors[i])) {
-                    printf("Motor %d Anti-Cogging Enabled\n", i);
-                    set_pos_setpoint(&motors[i], 0.0f, 0.0f, 0.0f);
-                    motors[i].use_anti_cogging = true;
+                    set_pos_setpoint(&motors[i], 0.0f, 0.0f, 0.0f); // Send the motor home
+                    motors[i].use_anti_cogging = true; // We're good to go, enable anti-cogging
                 }
-                //printf("Motor %d ERROR\n", i);
             }
         }
     }
diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c
index 0117439f..eea4afac 100644
--- a/Firmware/MotorControl/low_level.c
+++ b/Firmware/MotorControl/low_level.c
@@ -1256,6 +1256,9 @@ static void control_motor_loop(Motor_t* motor) {
         // Velocity control
         float Iq = motor->current_setpoint;
 
+        // Anti-cogging is enabled after calibration
+        // We get the current position and apply a current feed-forward
+        // ensuring that we handle negative encoder positions properly (-1 == ENCODER_CPR - 1)
         if(motor->use_anti_cogging){
             int32_t cogPos = (int32_t)motor->encoder.pll_pos % (int32_t)ENCODER_CPR;
             if(cogPos < 0){