ADSR in brief:
Attack
$0 is quickest and $f is slowest = the time it takes for the volume to rise from zero to max. The Attack phase starts whenever the GATE bit is turned on (more info on the GATE bit below).
Decay
$0 is quickest and $f is slowest = the time it takes for the volume to fall from max and down to the Sustain level (see below). The Decay phase starts automatically as soon as the Attack phase has finished.
Sustain
$0 is silence and $if is the loudest = the VOLUME (not the time) that the ADSR envelope stops at after having gone through the Attack and the Decay phase. As long as the GATE bit is still on, the ADSR envelope will stay in the Sustain phase forever. When GATE is turned off, the Sustain phase ends and the Release phase (see below) starts instead.
Release
$0 is quickest and $f is slowest = the time it takes for the volume to fall from the Sustain level and down to zero volume. More accurately, the Release phase may be started even before the ADSR envelope has reached the Sustain phase. For example, if you have a really slow Attack, and turn gate off before the Attack is done, the Release will start falling from whatever volume the ADSR is at, rather than from the specified Sustain level.
The GATE bit, that triggers the ADSR, is found in the WG columns on the sidtab screen in defMON. Normal usage of the WG columns would be to only use the upper nibble (e.g. the X in $XY) in the first WG column to set waveforms, and to only use the lower nibble (e.g. the Y in $XY) in the second WG column.
So to set triangle waveform (the $10 in the first WG column), and the gate bit to ON (the $01 in the second WG column), and ADSR to $11fa, you execute a line that looks like this:
...and then some time later you would execute a line where there is a 00 in the second WG column to turn the GATE bit off again, which will then have the effect that the ADSR envelope stops hovering at the Sustain level and instead enters the Release phase. Like this:
(This is also why there are two WG columns, because it allows the waveform to be "remembered" (in the first WG column) even if you turn the gate bit off in the second WG column.)
This explanation is quite technical, but hopefully it helps in some way at least. In those instruction videos that I'll do, I'll make sure to visualize the ADSR stuff graphically, to make it easier to grasp.