Add Documentation for odometrty and robot class. Remove fast_fifo

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()