diff --git a/README.md b/README.md
index ee71909..82cdab9 100644
--- a/README.md
+++ b/README.md
@@ -17,6 +17,7 @@ StringField explores the sensation of playing an “imaginary string” stretche
 | Path | What’s inside |
 | --- | --- |
 | `docs/` | Design briefs, play paradigms, sensing survey, assumption ledger, roadmap, **Touch-to-Ground Tuning Kit**, **Classroom Code Tour** |
+| `docs/Sensors/` | Per‑sensor field notes: wiring, RC values, calibration rituals, expected gesture behavior |
 | `firmware/` | PlatformIO project(s). Teensy 4.0 by default; optional ESP32 target |
 | `software/` | Processing + p5.js visualizers and bridges (now with gesture debugger) |
 | `hardware/` | Prototype notes per sensing modality + example BOM stubs |
@@ -69,11 +70,14 @@ Calibration micro-rituals (two minutes per class):
 
 ## Sensor stack expansions
 
-- **Time-of-flight (ToF):** drop in a VL53L0X/TMF8801 board, feed its analog/filtered output to `A2`, and compile with `-D SENSOR_TOF`. The sensor class now clamps the floor for noisy rooms and keeps the pin-only setup notes inline; swap in a real I²C driver later without touching `GestureEngine`.
-- **Piezo contact mic:** bias a piezo disc with a megaohm resistor, clamp the extremes, and plug into `A3` with `-D SENSOR_PIEZO`. The class can _see_ hits via the onboard LED and adjust the `bias` smoothing if the room hum drifts.
-- **PIR motion:** run the PIR gate to a digital pin (`-D SENSOR_PIR`). We purposely wait out the 30s warm-up, then smooth the binary gate into a motion envelope so students can _see_ lingering activity instead of a jittery square wave.
-- **Electret mic (analog):** a bias resistor + RC envelope into `A4` (`-D SENSOR_ELECTRET`). The class follows bias slowly, rectifies the swing, and exposes a gain knob so you can narrate why the whisper floor is clamped where it is.
-- **I²S/PDM mic:** for SPH0645/ICS-43434/etc., compile with `-D SENSOR_I2S_MIC`. The stub reads short bursts off I²S, averages absolute amplitude, and outputs a mellow envelope so the rest of the firmware doesn’t care which mic showed up.
+Need the hands‑on wiring + calibration notes? Start at `docs/Sensors/` and then go deep per sensor:
+
+- **MaKey‑style touch‑to‑ground:** [field notes](docs/Sensors/MakeyTouch.md) for grounding, debounce, and “touch plateau” behavior.
+- **Time‑of‑flight (ToF):** [field notes](docs/Sensors/TimeOfFlight.md). Drop in a VL53L0X/TMF8801 board, feed its analog/filtered output to `A2`, and compile with `-D SENSOR_TOF`. The sensor class clamps the floor for noisy rooms and keeps the pin-only setup notes inline; swap in a real I²C driver later without touching `GestureEngine`.
+- **Piezo contact mic:** [field notes](docs/Sensors/Piezo.md). Bias a piezo disc with a megaohm resistor, clamp the extremes, and plug into `A3` with `-D SENSOR_PIEZO`. The class can _see_ hits via the onboard LED and adjust the `bias` smoothing if the room hum drifts.
+- **PIR motion:** [field notes](docs/Sensors/PIR.md). Run the PIR gate to a digital pin (`-D SENSOR_PIR`). We purposely wait out the 30s warm-up, then smooth the binary gate into a motion envelope so students can _see_ lingering activity instead of a jittery square wave.
+- **Electret mic (analog):** [field notes](docs/Sensors/ElectretMic.md). A bias resistor + RC envelope into `A4` (`-D SENSOR_ELECTRET`). The class follows bias slowly, rectifies the swing, and exposes a gain knob so you can narrate why the whisper floor is clamped where it is.
+- **I²S/PDM mic:** [field notes](docs/Sensors/I2SMic.md). For SPH0645/ICS-43434/etc., compile with `-D SENSOR_I2S_MIC`. The stub reads short bursts off I²S, averages absolute amplitude, and outputs a mellow envelope so the rest of the firmware doesn’t care which mic showed up.
 
 ## Highlights
 
diff --git a/docs/SensingSurvey.md b/docs/SensingSurvey.md
index 8dbefae..ab06c67 100644
--- a/docs/SensingSurvey.md
+++ b/docs/SensingSurvey.md
@@ -10,3 +10,14 @@
 | **Hall / Flex (later)** | A3144 hall + magnet, flex sensor | position/pressure proxy | alternate mappings | mechanical complexity | optional expansion |
 
 > Implementation note: All sensor paths conform to a common `Sensor` interface so gesture & mapping code doesn’t change when you swap hardware.
+
+## Sensor field notes (fast links)
+
+Each of these is a short, hands‑on guide with wiring notes, RC recipes, calibration rituals, and “what the gestures should feel like.”
+
+- [MaKey‑style Touch‑to‑Ground](Sensors/MakeyTouch.md)
+- [Time‑of‑Flight Proximity](Sensors/TimeOfFlight.md)
+- [Piezo / Contact Mic](Sensors/Piezo.md)
+- [PIR Motion](Sensors/PIR.md)
+- [Electret Mic (Analog)](Sensors/ElectretMic.md)
+- [I²S Digital Mic](Sensors/I2SMic.md)
diff --git a/docs/Sensors/ElectretMic.md b/docs/Sensors/ElectretMic.md
new file mode 100644
index 0000000..f0f18c4
--- /dev/null
+++ b/docs/Sensors/ElectretMic.md
@@ -0,0 +1,40 @@
+# Electret Mic (Analog Envelope)
+
+Electret mics are cheap and expressive. They catch **air motion**—scrapes, breath, finger flicks, and tiny percussive taps.
+
+## Wiring notes
+
+- **Firmware path:** `firmware/src/electret_mic_sensor.cpp` (`SENSOR_ELECTRET`)
+- **Signal pin:** `A4`
+- You need a **bias resistor** and usually a **rectifier/envelope** stage.
+- Keep the wires short; this is an antenna.
+
+**Sketch wiring (minimal):**
+
+- Electret mic → bias resistor (2.2 kΩ–10 kΩ) to 3.3 V.
+- Coupling cap (1–10 µF) into a diode + RC envelope (see below) → `A4`.
+- GND to GND.
+
+## Recommended RC values
+
+- **Bias resistor:** **2.2 kΩ–10 kΩ** (higher = lower current).
+- **Envelope:** **10 kΩ + 1 µF** (≈10 ms) for quick plucks.
+- For slower swells, try **100 kΩ + 1 µF** (≈100 ms).
+
+## Calibration steps (live, out loud)
+
+1. **Idle bias check:** the normalized value should hover near 0.0 after the bias tracker settles.
+2. **Gain tuning:** increase `gain_` until quiet room noise is visible but not pegged.
+3. **Floor clamp:** if the room hums, raise the `env_` floor clamp so idle reads 0.
+
+## Expected gesture behavior
+
+- **Pluck:** snap or tap near the mic for quick spikes.
+- **Scrape:** steady rubbing makes a noisy plateau—great for texture.
+- **Bow:** breath or slow movement can create soft, airy sustains.
+
+## Common failure modes
+
+- **DC offset drift:** missing/incorrect bias resistor causes wandering baselines.
+- **Hum city:** long wires pick up 50/60 Hz; twist or shield.
+- **Perma‑clip:** gain too hot or envelope too fast so everything is 1.0.
diff --git a/docs/Sensors/I2SMic.md b/docs/Sensors/I2SMic.md
new file mode 100644
index 0000000..2a164cb
--- /dev/null
+++ b/docs/Sensors/I2SMic.md
@@ -0,0 +1,41 @@
+# I²S / PDM Digital Mic
+
+This is the **cleanest audio path**: a digital mic that spits out PCM. It’s less fragile than electrets and gives you repeatable envelopes for gestures.
+
+## Wiring notes
+
+- **Firmware path:** `firmware/src/i2s_mic_sensor.cpp` (`SENSOR_I2S_MIC`)
+- **Interfaces:** I²S (WS/LRCLK, BCLK, DATA) with power/ground.
+- Common parts: **SPH0645**, **ICS‑43434**, **INMP441**.
+
+**Sketch wiring (generic):**
+
+- Mic `WS/LRCLK` → board I²S WS pin
+- Mic `BCLK` → board I²S BCLK pin
+- Mic `DATA` → board I²S data in
+- Mic `VDD` → 3.3 V
+- Mic `GND` → GND
+
+(Exact pin mapping depends on your board; follow the board’s I²S pinout.)
+
+## Recommended RC values
+
+- **No RC needed.** This is digital; all shaping happens in firmware.
+
+## Calibration steps (live, out loud)
+
+1. **Confirm I²S starts:** if `ready_` stays false, check wiring and clock pins.
+2. **Gain tuning:** adjust `gain_` in `i2s_mic_sensor.cpp` so quiet taps are visible.
+3. **Window size:** tweak `window_samples_` for faster or smoother envelopes.
+
+## Expected gesture behavior
+
+- **Pluck:** sharp peaks from taps or snaps.
+- **Scrape:** textured noise bands; works well for “scratch bow” metaphors.
+- **Bow:** smoother swells if you lengthen the envelope window.
+
+## Common failure modes
+
+- **No clock lock:** wrong WS/BCLK pins = total silence.
+- **Word‑select swapped:** sounds like garbage noise (values jump wildly).
+- **Sample‑rate mismatch:** aliasy hiss or sluggish response.
diff --git a/docs/Sensors/MakeyTouch.md b/docs/Sensors/MakeyTouch.md
new file mode 100644
index 0000000..4ce9040
--- /dev/null
+++ b/docs/Sensors/MakeyTouch.md
@@ -0,0 +1,38 @@
+# MaKey‑style Touch‑to‑Ground Sensor
+
+This is the punk‑rock “clip it and play it” path: a single alligator lead, a person, and a shared ground. It’s the fastest way to get a class **playing** while you narrate signal paths out loud.
+
+## Wiring notes
+
+- **Firmware path:** `firmware/src/makey_sensor.cpp` (`SENSOR_MAKEY`)
+- **Signal pin:** `D2` (`kMakeyPin`)
+- **Ground:** share ground between the board and whatever the player is touching.
+- Enable `INPUT_PULLUP` so the pin idles **HIGH** until touched.
+
+**Sketch wiring:**
+
+- Board `D2` → MaKey (or foil pad) signal lead.
+- Board `GND` → player ground (wrist strap, foil ground plane, or another alligator).
+
+## Recommended RC values
+
+- **No RC needed** for the baseline demo. The firmware handles debouncing with an integrator.
+- If your wire run is huge or you’re in a noisy room, add a **100 kΩ** series resistor and **10–100 nF** to ground near the input as a hardware low‑pass.
+
+## Calibration steps (live, out loud)
+
+1. **Confirm idle = HIGH:** open serial plotter; idle should sit near `0.0` after normalization.
+2. **Tap cadence:** touch the pad; the envelope should rise to `~1.0` and fall without chatter.
+3. **Debounce tuning:** if it flickers on jittery hands, slow the integrator in `makey_sensor.cpp`.
+
+## Expected gesture behavior
+
+- **Pluck:** clean spikes from tap‑release.
+- **Bow:** sustained touch reads as a flat plateau (great for “long bow” metaphors).
+- **Scrape:** quick repeated taps become rhythmic chatter—use that as a teachable sonic texture.
+
+## Common failure modes
+
+- **No shared ground:** always HIGH, never triggers. Ground is the instrument.
+- **Long wires:** antenna behavior → phantom touches. Twist or shorten leads.
+- **Static zap:** will look like a sudden pluck. Teach “touch the ground plane first.”
diff --git a/docs/Sensors/PIR.md b/docs/Sensors/PIR.md
new file mode 100644
index 0000000..c36b8f6
--- /dev/null
+++ b/docs/Sensors/PIR.md
@@ -0,0 +1,39 @@
+# PIR Motion Sensor
+
+PIR is the “big‑gesture” detector: it doesn’t see fingers, it sees **body heat motion**. Great for dramatic bows, stage‑wide gesturing, and “presence” cues.
+
+## Wiring notes
+
+- **Firmware path:** `firmware/src/pir_sensor.cpp` (`SENSOR_PIR`)
+- **Signal pin:** `D4` (`kPirPin`)
+- Most PIR modules output a **digital gate** (HIGH/LOW).
+- Many PIRs are **3.3 V only**—check the label before powering.
+
+**Sketch wiring:**
+
+- PIR OUT → `D4`
+- PIR VCC → 3.3 V (or 5 V if explicitly supported)
+- PIR GND → board GND
+
+## Recommended RC values
+
+- **No RC needed.** The PIR board has its own analog front‑end.
+- If the digital gate chatters, add a **10 kΩ + 100 nF** RC on the output, or just increase the software guard time.
+
+## Calibration steps (live, out loud)
+
+1. **Warm‑up ritual:** wait 10–30 seconds; the code holds output at 0 until stable.
+2. **Sensitivity trim:** adjust the PIR’s onboard pot until a slow walk triggers but idle does not.
+3. **Guard window:** if it retriggers too fast, increase `guard_us_` in `pir_sensor.cpp`.
+
+## Expected gesture behavior
+
+- **Bow:** broad, slow arm sweeps become a smooth envelope.
+- **Pluck:** not ideal—PIR doesn’t do fine taps.
+- **Scrape:** use it for “stage presence” rather than micro‑gesture.
+
+## Common failure modes
+
+- **Always HIGH:** wrong voltage or sensor aimed at a hot vent/window.
+- **Always LOW:** too short a warm‑up or sensitivity set too low.
+- **False triggers:** moving heat sources (sunbeams, heaters) or flimsy mounts.
diff --git a/docs/Sensors/Piezo.md b/docs/Sensors/Piezo.md
new file mode 100644
index 0000000..99ce9c7
--- /dev/null
+++ b/docs/Sensors/Piezo.md
@@ -0,0 +1,40 @@
+# Piezo / Contact Mic Sensor
+
+This path is pure impact energy: taps, knocks, and scrape transients. It’s a **percussive string** when you want hits to be obvious and dramatic.
+
+## Wiring notes
+
+- **Firmware path:** `firmware/src/piezo_sensor.cpp` (`SENSOR_PIEZO`)
+- **Signal pin:** `A3`
+- **Bias:** a megaohm resistor to mid‑rail keeps the ADC sane.
+- **Clamp:** diodes (or a small TVS) keep the piezo from spiking the input.
+
+**Sketch wiring:**
+
+- Piezo disk lead → `A3` through a **1 MΩ** resistor to 3.3 V (or 5 V if your ADC allows).
+- Piezo disk other lead → GND.
+- Optional: two **1N4148** diodes to 3.3 V and GND to clamp the swing.
+
+## Recommended RC values
+
+- **Bias resistor:** **1 MΩ** (470 kΩ–2.2 MΩ range is fine).
+- **Envelope cap:** **10–47 nF** from `A3` to GND for a bit of smoothing.
+- If you need slower decay (longer “bow”), try **100 nF**.
+
+## Calibration steps (live, out loud)
+
+1. **Idle bias check:** with no touch, the normalized value should sit around 0.0.
+2. **Tap test:** a finger tap should spike near 1.0 and decay quickly.
+3. **Gain control:** tune `swing` scaling in `piezo_sensor.cpp` until quiet taps are readable but don’t clip everything.
+
+## Expected gesture behavior
+
+- **Pluck:** crisp, high peaks—great for sharp string attacks.
+- **Scrape:** repeated small spikes create a rough, noisy texture.
+- **Bow:** harder to get a smooth sustain unless you add RC smoothing or mount in a resonant surface.
+
+## Common failure modes
+
+- **Floating input:** no bias resistor = chaos noise.
+- **Over‑clipping:** missing clamps can slam the ADC rails.
+- **Dead disk:** cracked piezo = silence. They’re fragile; mount with love.
diff --git a/docs/Sensors/TimeOfFlight.md b/docs/Sensors/TimeOfFlight.md
new file mode 100644
index 0000000..ce934bd
--- /dev/null
+++ b/docs/Sensors/TimeOfFlight.md
@@ -0,0 +1,38 @@
+# Time‑of‑Flight (ToF) Proximity Sensor
+
+Use this when you want **distance** as a gestural axis: bow speed from range change, vibrato from micro‑wobbles, “hover pluck” from a quick dip in range.
+
+## Wiring notes
+
+- **Firmware path:** `firmware/src/time_of_flight_sensor.cpp` (`SENSOR_TOF`)
+- **Demo pin:** `A2` expects an **analog envelope** for the in‑class build.
+- **Real ToF parts:** VL53L0X / VL53L1X / TMF8801 are I²C. If you move to I²C, keep the output normalized to 0..1 so the gesture code stays unchanged.
+
+**Sketch wiring (analog helper board):**
+
+- ToF analog out → `A2`
+- ToF VCC → 3.3 V (most are 2.8–3.3 V)
+- ToF GND → board GND
+
+## Recommended RC values
+
+- **If using an analog helper:** start with **10 kΩ + 1 µF** (≈10 ms) for a gentle envelope.
+- **If using I²C directly:** no RC needed; do filtering in code.
+
+## Calibration steps (live, out loud)
+
+1. **Set a “home” distance:** hold a hand at ~15 cm and watch the normalized value.
+2. **Scale:** adjust the raw‑to‑normalized mapping in `time_of_flight_sensor.cpp` (or the helper board gain) until that pose lands at ~0.5.
+3. **Floor clamp:** if idle never returns to 0.0, lift the clamp threshold slightly.
+
+## Expected gesture behavior
+
+- **Bow:** slow in/out motion yields a long arc in the envelope.
+- **Pluck:** quick dive toward the sensor creates a sharp peak.
+- **Vibrato:** tiny wobbles around a fixed distance give a delicate tremble.
+
+## Common failure modes
+
+- **Ambient IR saturation:** sunlight can pin the reading high.
+- **Bad angle:** some ToF parts have narrow cones; side‑on hands vanish.
+- **Power mismatch:** a 3.3 V sensor on 5 V can latch or die. Don’t.
diff --git a/firmware/src/electret_mic_sensor.cpp b/firmware/src/electret_mic_sensor.cpp
index 4679f03..0251e4d 100644
--- a/firmware/src/electret_mic_sensor.cpp
+++ b/firmware/src/electret_mic_sensor.cpp
@@ -19,13 +19,19 @@ class ElectretMicSensor : public Sensor {
 
   SensorSample read() override {
     uint32_t now = micros();
+    // Expected signal range: biased mic envelope on A4, sampled 0..1023. You want
+    // mid-rail idle (around 0.5 normalized) so the swing has room both ways.
     float x = sample_raw();
     // AC coupling: follow bias slowly, measure swing fast.
     bias_ = 0.9994f * bias_ + 0.0006f * x;  // tweak live if the room hums
     float swing = fabs(x - bias_) * gain_;
+    // Normalization: clamp the rectified swing into 0..1, then smooth to a
+    // performance-friendly envelope.
     env_ = 0.88f * env_ + 0.12f * constrain(swing, 0.0f, 1.0f);
     // Small floor clamp to avoid whisper-noise. Bump lower if you need pianissimo.
     if (env_ < 0.01f) env_ = 0.0f;
+    // Common failure modes: missing bias resistor (floating pin noise),
+    // long unshielded leads (50/60 Hz hum), or gain too high (perma-clipped 1.0).
     return {env_, now};
   }
 
@@ -45,4 +51,3 @@ Sensor& get_electret_sensor() {
 }
 
 #endif  // SENSOR_ELECTRET
-
diff --git a/firmware/src/i2s_mic_sensor.cpp b/firmware/src/i2s_mic_sensor.cpp
index 2a524c8..1d02d78 100644
--- a/firmware/src/i2s_mic_sensor.cpp
+++ b/firmware/src/i2s_mic_sensor.cpp
@@ -23,6 +23,7 @@ class I2SMicSensor : public Sensor {
     int16_t sample = 0;
     uint16_t count = 0;
     while (I2S.available() && count < window_samples_) {
+      // Expected signal range: signed 16-bit PCM samples (about -32768..32767).
       sample = static_cast<int16_t>(I2S.read());
       total += abs(sample);
       ++count;
@@ -31,7 +32,11 @@ class I2SMicSensor : public Sensor {
     float avg = (count > 0) ? (total / static_cast<float>(count)) : 0.0f;
     // Normalize 16-bit PCM to 0..1 and overdrive slightly for quiet rooms.
     float normalized = constrain((avg / 32768.0f) * gain_, 0.0f, 1.0f);
+    // Normalization: absolute-value average -> 0..1 energy envelope with a short
+    // smoothing filter so percussive taps still show up as peaks.
     env_ = 0.9f * env_ + 0.1f * normalized;
+    // Common failure modes: I2S.begin() never locks (ready_ false => silence),
+    // word-select swapped (garbled noise), or sample_rate_ mismatch (aliasy hiss).
     return {env_, now};
   }
 
@@ -51,4 +56,3 @@ Sensor& get_i2s_mic_sensor() {
 }
 
 #endif  // SENSOR_I2S_MIC
-
diff --git a/firmware/src/makey_sensor.cpp b/firmware/src/makey_sensor.cpp
index 08512f0..dab8f07 100644
--- a/firmware/src/makey_sensor.cpp
+++ b/firmware/src/makey_sensor.cpp
@@ -11,10 +11,16 @@ class MakeySensorGuarded : public Sensor {
     if (now - last_read_us_ < guard_us_) return last_sample_;
     last_read_us_ = now;
 
+    // Expected signal range: digital gate with pullup enabled, so HIGH ~= 1 (open)
+    // and LOW ~= 0 (touch shorts to ground).
     bool touch = digitalRead(kMakeyPin) == LOW;  // MaKey shorts to ground
     // Debounce using a tiny integrator so hand jitter does not look like a bow.
     debounce_state_ = 0.9f * debounce_state_ + 0.1f * (touch ? 1.0f : 0.0f);
+    // Normalization: convert the debounced gate into a 0..1 envelope the rest of
+    // the gesture engine can treat like any other sensor.
     float normalized = debounce_state_;
+    // Common failure modes: no shared ground (always HIGH), too-long leads acting
+    // like antennas (phantom touches), or ESD spikes that look like micro taps.
 
     last_sample_ = {normalized, now};
     return last_sample_;
@@ -35,4 +41,3 @@ Sensor& get_makey_sensor() {
 }
 
 #endif  // SENSOR_MAKEY
-
diff --git a/firmware/src/piezo_sensor.cpp b/firmware/src/piezo_sensor.cpp
index e333653..de0be72 100644
--- a/firmware/src/piezo_sensor.cpp
+++ b/firmware/src/piezo_sensor.cpp
@@ -13,12 +13,18 @@ class PiezoSensor : public Sensor {
 
   SensorSample read() override {
     static float bias = 0.5f;  // mid-rail estimate in normalized units
+    // Expected signal range: biased piezo swing around mid-rail, sampled as 0..1023.
+    // If raw slams 0/1023, check your clamp diodes and that the piezo isn't floating.
     int raw = analogRead(A3);
+    // Normalization: scale ADC to 0..1, subtract a slow bias, then magnify the swing
+    // into a 0..1 envelope that behaves like "hit energy."
     float x = constrain(raw / 1023.0f, 0.0f, 1.0f);
     bias = 0.999f * bias + 0.001f * x;  // slow bias tracker; tweak in calibration session
     float swing = fabs(x - bias) * 2.2f;  // exaggerate small hits; clip later
     float env = constrain(swing, 0.0f, 1.0f);
     digitalWrite(13, env > 0.4f);  // punk-rock peak lamp
+    // Common failure modes: cracked piezo disks (no response), mechanical mounting
+    // that damps transients, or missing bias resistor so the ADC sees a floating pin.
     return {env, micros()};
   }
 };
@@ -29,4 +35,3 @@ Sensor& get_piezo_sensor() {
 }
 
 #endif  // SENSOR_PIEZO
-
diff --git a/firmware/src/pir_sensor.cpp b/firmware/src/pir_sensor.cpp
index c776020..fda67fd 100644
--- a/firmware/src/pir_sensor.cpp
+++ b/firmware/src/pir_sensor.cpp
@@ -17,14 +17,20 @@ class PirSensor : public Sensor {
       return last_sample_;
     }
 
+    // Expected signal range: digital HIGH/LOW gate from the PIR comparator.
     bool raw_motion = digitalRead(kPirPin) == HIGH;
     float x = raw_motion ? 1.0f : 0.0f;
+    // Normalization: convert the binary gate into a smoothed 0..1 envelope so
+    // gestures feel like motion energy rather than a square wave.
     // Exponential decay so a single person pass shows as a hill, not a square wave.
     env_ = 0.92f * env_ + 0.08f * x;
     // Guard window to avoid rapid re-triggers from onboard comparators that chatter.
     if (now_us - last_read_us_ < guard_us_) return last_sample_;
     last_read_us_ = now_us;
 
+    // Common failure modes: powering a 3.3 V-only PIR from 5 V (stuck high),
+    // heat vents/sunlight causing false triggers, or mounting aimed at the floor
+    // so it never sees lateral motion.
     last_sample_ = {env_, now_us};
     return last_sample_;
   }
@@ -48,4 +54,3 @@ Sensor& get_pir_sensor() {
 }
 
 #endif  // SENSOR_PIR
-
diff --git a/firmware/src/time_of_flight_sensor.cpp b/firmware/src/time_of_flight_sensor.cpp
index b3899d4..f9d2c21 100644
--- a/firmware/src/time_of_flight_sensor.cpp
+++ b/firmware/src/time_of_flight_sensor.cpp
@@ -13,15 +13,22 @@ class TimeOfFlightSensor : public Sensor {
   }
 
   SensorSample read() override {
+    // Expected signal range: analog envelope 0..1023 from an external ToF helper
+    // (or later: millimeters via I2C). If you see rails at 0/1023, check wiring
+    // and whether the sensor is saturating in sunlight.
     int raw = analogRead(A2);  // e.g., 0..1023. Replace with mm reading / 4096.0 for I2C parts.
     // Calibrate like a lab notebook: expose the bias and smoothing knobs. Students
     // can anchor a “hand at 15 cm” pose and tune the filter and scaling live.
     static float y = 0.0f;
+    // Normalization: map raw ADC to 0..1 so gesture logic stays sensor-agnostic.
     float x = constrain(raw / 1023.0f, 0.0f, 1.0f);
     y = 0.85f * y + 0.15f * x;  // slightly faster than optical to catch hand waves
     // Cheap floor clamp for noisy rooms; edit in class if your sensor never
     // truly rests at 0.0 while idle.
     if (y < 0.02f) y = 0.0f;
+    // Common failure modes: ambient IR swamping the receiver (always high),
+    // over-aggressive RC filtering (sluggish bow response), or A2 floating
+    // because the analog helper board isn't powered.
     return {y, micros()};
   }
 };
@@ -32,4 +39,3 @@ Sensor& get_time_of_flight_sensor() {
 }
 
 #endif  // SENSOR_TOF
-