sir in this part of ESC code
in "for loop" we are increasing the "i" and again in "if"statement we decrease the "i" then when this   "set_next_step();" function will execute
or when we come out from "for loop"
please reply it is very important for me

So, the for loop will increase i by 1. If the comparator didn't changed, we decrease i by one so we stay in the same place. In this way, till the comparator output is the same, we stay in that loop. Once the comaprator ACSR changed, we don't decrease i anymore so after 10 loops we go to next step!

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