refact: minor changes and doc improvements

controller/controller.ino

@@ -26,8 +26,9 @@
 #define BAUD_RATE 115200  // baud rate for serial
 
 // Pins
-#define ESC1_PIN 10   // ESC Front motor
-#define ESC2_PIN 9    // ESC Aft motor
+#define ESC1_PIN 10  // ESC Front motor
+#define ESC2_PIN 9   // ESC Aft motor
+
 #define SWITCH_PIN 7  // ON/OFF switch (mode control)
 #define POT_PIN A0    // Potentiometer
 
@@ -42,17 +43,17 @@
 #define TENS2_PIN A1  // Tension measurement for Aft motor
 
 // Values
-#define DIV_RES1 48254.0  // Resistance of R1 in the voltage dividers
+#define DIV_RES1 48254.0  // Resistance of R1 in the voltage dividers (calibrated so voltage matches)
 #define DIV_RES2 6800.0   // Resistance of R2 in the voltage dividers
 
 #define SEN0098_VCC 5                 // Supply voltage of the current sensors
 #define SEN0098_SENSI 40.0            // Chip ACS758LCB-050B-PFF-T
-#define SEN0098_QUIESCENT_FACTOR 0.5  // Bidirectional chip-> V_IOUTQ = 0.5*VCC
-#define SEN0098_OFFSET 0.0122         // Manually set so current is 0 when no current
+#define SEN0098_QUIESCENT_FACTOR 0.5  // Bidirectional chip -> V_IOUTQ = 0.5*VCC
+#define SEN0098_OFFSET 0.0122         // Calibrated so current is 0 when no current
 
 #define GEAR_RATIO 0.1  // Gear ratio between motor and wings
 
-// Calibration of encoders (NEEDS TO BE REDONE WHEN ENCODERS ARE MOVED)
+// Calibration of encoders
 #define ENC_PRECISION 4096  // 12-Bits encoders (nb of points per rot)
 #define ENC_ORIENT \
   { 1, -1, 1, -1 }  // Encoder orientation
@@ -118,10 +119,10 @@ void setup() {
 
   // Initialize modes
   int switch_state = digitalRead(SWITCH_PIN);
+
   if (switch_state == LOW) {
     gMode = "MANUAL";
     Serial.println("[WARNING]: Control motors using potentiometer");
-
   } else {
     gEsc1.write(0);  // Must be initialized at 0 otherwise will not start
     gEsc2.write(0);
@@ -137,7 +138,7 @@ void setup() {
     Calibrate();
   }
 
-  delay(1000);
+  delay(1000);  // Ensure proper initialization
   Serial.println("[INFO]: Setup OK, starting now...");
   delay(500);
 }

controller/sensors.ino

@@ -11,7 +11,8 @@
   Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
 *******************************************************************************/
 
-//Read 12-bit rotary encoder (RobinL modified by linarism on forum.arduino.cc)
+// Read 12-bit rotary encoder
+// Inspired from RobinL modified by linarism on forum.arduino.cc
 unsigned int ReadSensor(uint8_t csn, int8_t orient, int8_t offset) {
   unsigned int ret = 0;
 
@@ -28,6 +29,7 @@ unsigned int ReadSensor(uint8_t csn, int8_t orient, int8_t offset) {
   }
 
   digitalWrite(csn, HIGH);  //deselects the encoder from reading
+
   return (1 - orient) / 2 * ENC_PRECISION + orient * ret - (offset * ENC_PRECISION / 2);
 }
 
@@ -46,7 +48,7 @@ float GetCurrent(byte cur_pin) {
   return volt / gCUR_FACT;                            // Actual current
 }
 
-// Measure the tension provided by the PSU
+// Measure the tension provided by the PSU using the voltage divider
 float GetTension(byte vol_pin) {
   float vol_raw = analogRead(vol_pin) * (5.0 / 1023.0);
 

controller/utils.ino

@@ -36,10 +36,11 @@ float PosToDeg(unsigned int pos) {
   return pos * 360.0 / ENC_PRECISION;
 }
 
+// Print an array
 void PrintArray(int array[]) {
-  for (int i = 0; i < 4; i++) {
+  for (int i = 0; i < sizeof(gCSN_PINS); i++) {
     Serial.print(array[i]);
-    if (i < 4 - 1) {
+    if (i < sizeof(gCSN_PINS) - 1) {
       Serial.print(", ");
     }
   }