Add Documentation for odometrty and robot class. Remove fast_fifo

docs/source/conf.py

@@ -15,11 +15,12 @@ import sys
 
 sys.path.insert(0, os.path.abspath('../..'))
 sys.setrecursionlimit(1500)
+os.environ["EXTENSIVE_LOGGING"] = "False"
 
 # -- Project information -----------------------------------------------------
 
 project = 'CompLib'
-copyright = '2021, robo4you'
+copyright = '2022, Verein zur Förderung von Wissenschaft und Technik an Schulen (F-WuTS)'
 author = 'robo4you'
 
 # The full version, including alpha/beta/rc tags
@@ -35,7 +36,8 @@ extensions = [
     'sphinx_rtd_theme'
 ]
 
-autodoc_mock_imports = ["smbus", "compLib.PCA9685", "RPi", "pigpio", "flask", "apt", "spidev", "influxdb_client"]
+autodoc_mock_imports = ["smbus", "compLib.PCA9685", "RPi",
+                        "pigpio", "flask", "apt", "spidev", "influxdb_client"]
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']

docs/source/lib/Odom.rst

@@ -0,0 +1,50 @@
+.. _lib_odom:
+
+Odometry
+******
+
+Class Documentation
+====================
+
+.. autoclass:: compLib.Odom.Odometry
+   :members:
+
+.. autoclass:: compLib.Odom.Odom
+   :members:
+
+
+Examples
+=========
+
+Getting actual distance driven
+------------------------------
+
+.. code-block:: python
+
+   import time
+   import math
+   from compLib.Motor import Motor
+   from compLib.Encoder import Encoder
+   from compLib.Odom import Odom, Odometry
+
+    # distance in meters
+    # speed in % of max speed
+    def drive_example(distance, speed):
+        Odom.update()
+        odom = Odom.get_odom()
+        while abs(odom.get_x()) < distance:
+            Odom.update()
+            odom = Odom.get_odom()
+
+            Motor.power(4, speed)
+            Motor.power(1, -speed)
+
+        print(f" Forward: {odom.get_x()} m")
+        print(f" Right: {odom.get_y()} m")
+        print(f" Turned: {math.degrees(odom.get_orientation())} degrees")
+
+        Motor.active_break(1)
+        Motor.active_break(4)
+        time.sleep(0.1)
+        Encoder.clear_all()
+        Odom.clear()

docs/source/lib/Robot.rst

@@ -0,0 +1,11 @@
+.. _lib_robot:
+
+Robot
+******
+
+Class Documentation
+====================
+
+.. autoclass:: compLib.Robot.Robot
+   :members:
+   :private-members: