Both the code and the comments should be as understandable as possible. Don't forget that the effort to comment well helps the programmer in his/her own thinking and his/her own understanding of their own code, and helps in development of good code that doesn't have bugs.
My 2010 Prius has a package that includes parallel parking assist and cruise control distance limiter. In some fictional state (let's say 'private property') I tap my cruise control speed lever up and the car speed increases from 80 to 81.I tap this leve again and again, up to 83 mph. Then I tap it again and the car takes off without speed limiting. Tapping this lever down has no effect. The car is shortly up to maybe 97 mph. I repeated this many times.
One doesn't think of things like putting the car in neutral instantly.
The natural braking action does disable this effect.
How many hardware guys does it take to change a light bulb? "Well the diagnostics say it's fine buddy, so it's a software problem."