Reduced number of motors to 5 ([0] is not used)
Added notes
Seems like TAIE is not needed at all
-  TA0CTL = TASSEL_2 | MC_1 | TACLR | TAIE;
+  TA0CTL = TASSEL_2 | MC_1 | TACLR;
Optimized hw defense and number of register accesses