Add Documentation for odometrty and robot class. Remove fast_fifo

compLib/MetricsLogging.py

@@ -3,7 +3,6 @@ import socket
 import uuid
 import os
 import multiprocessing
-import faster_fifo
 import datetime
 import requests
 import time
@@ -29,7 +28,7 @@ else:
 influx_client = InfluxDBClient(url=INFLUX_HOST, token=TOKEN)
 write_api = influx_client.write_api()
 
-point_queue = faster_fifo.Queue()
+point_queue = multiprocessing.Queue()
 workers = []
 
 class MetricsLogging():

compLib/Motor.py

@@ -21,6 +21,7 @@ class MotorMode(IntEnum):
     BACKWARD = 2,
     BREAK = 3
 
+
 class Motor(object):
     """Class used to control the motors
     """

compLib/Odom.py

@@ -13,22 +13,50 @@ orientation = 0
 
 
 class Odometry():
+    """DTO used for holding all odometry information. \n
+    Coordinate system: \n
+        X: + Forward; - Backwards \n
+        Y: + Right; - Left \n
+        Orientation: + Right; - Left
+    """
+
     def __init__(self, x, y, orientation):
         self.x = x
         self.y = y
         self.orientation = orientation
 
+    def get_x(self) -> float:
+        """Returns distance driven on x-axis in meters"""
+        return self.x
+
+    def get_y(self) -> float:
+        """Returns distance driven on y-axis in meters"""
+        return self.y
+
+    def get_orientation(self) -> float:
+        """Returns degrees turned in radians"""
+        return self.orientation
+
     def __str__(self):
         return f"X: {self.x} Y: {self.y} O: {self.orientation}"
 
+
 class Odom(object):
+    """Class used to track the movement of the robot in X, Y, Theta (Orientation)
+    """
 
     @staticmethod
-    def get_odom():
+    def get_odom() -> Odometry:
+        """
+        :return: Current orientation of the robot
+        """
         return Odometry(pos_x, pos_y, orientation)
 
     @staticmethod
-    def clear():
+    def clear() -> None:
+        """
+        Clears the current odometry information and start from X, Y, Orientation set to 0
+        """
         global last_run, last_enc_left, last_enc_right, pos_x, pos_y, orientation
 
         last_run = 0
@@ -39,7 +67,11 @@ class Odom(object):
         orientation = 0
 
     @staticmethod
-    def update():
+    def update() -> None:
+        """
+        Updates the current odometry information of the robot, Should be called in a loop with at least 100HZ.
+        Do not clear encoder positions between updates! Must be cleared, when clearing encoders!
+        """
         global last_run, last_enc_left, last_enc_right, pos_x, pos_y, orientation
 
         now = time.time()

compLib/Robot.py

@@ -2,11 +2,23 @@ import math
 
 
 class Robot(object):
-    
     WHEEL_CIRCUMFERENCE_MM = 71.0 * math.pi
+    """Circumference of a wheel in millimeters"""
+
     TICKS_PER_TURN = 27.7 * 100.0
+    """Ticks per 360 degree turn of a wheel"""
+
     ARBOR_LENGTH_MM = 139.0
+    """Distance between the two wheels in millimeters"""
+
     ARBOR_LENGTH_M = ARBOR_LENGTH_MM / 1000.0
+    """Distance between the two wheels in meters"""
+
     TICKS_PER_METER = 1000.0 / WHEEL_CIRCUMFERENCE_MM * TICKS_PER_TURN
+    """Ticks after driving one meter"""
+
     LEFT_PORT = 4
+    """Motor port for the left motor"""
+
     RIGHT_PORT = 1
+    """Motor port for the right motor"""