translation driver and testing

src/C++/Driver/src/CKobuki.cpp

@@ -589,21 +589,21 @@ long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
 
 
 
-// povie kobukimu ze ma ist niekolko metrov dopredu alebo dozadu, rozhoduje znamienko
-// funkcia kompenzuje chodenie rovno pomocou regulatora, interne vyuziva setArcSpeed a
-// ako spatnu vazbu pouziva data z enkoderov
+// tells the kobuki to go a few meters forward or backward, the sign decides
+// the function compensates for walking straight with the controller, internally it uses setArcSpeed and
+// uses encoder data as feedback
 void CKobuki::goStraight(long double distance){
-    long double u_translation = 0; // riadena velicina, rychlost robota pri pohybe
-    long double w_translation = distance; // pozadovana hodnota
+    long double u_translation = 0; // controlled magnitude, speed of the robot in motion
+    long double w_translation = distance; // requested value
 
-    // parametre regulatora
+    // controller parameters
     long double Kp_translation = 4500;
     long double e_translation = 0;
     int upper_thresh_translation = 600;
     int lower_thresh_translation = 40;
     int translation_start_gain = 20;
 
-    long double u_rotation = 0; // riadena velicina
+    long double u_rotation = 0; // controlled magnitude
     long double w_rotation = 0;
     long double Kp_rotation = 57;
     long double e_rotation = 0;
@@ -613,7 +613,7 @@ void CKobuki::goStraight(long double distance){
     theta = 0;
 
     long i = 5;
-
+    //send command and hold until robot reaches point
     while (fabs(x - w_translation) > 0.005 && x<w_translation) {
         e_translation = w_translation - x;
         u_translation = Kp_translation * e_translation;
@@ -640,10 +640,9 @@ void CKobuki::goStraight(long double distance){
         if (u_rotation == 0) {
             u_rotation = -32767;
         }
-
+        //send command to robot
         this->setArcSpeed(u_translation, u_rotation);
 
-        usleep(25*1000);
         // increment starting speed
         i = i + translation_start_gain;
     }
@@ -705,8 +704,7 @@ void CKobuki::doRotation(long double th) {
         }
     }
 
-    std::cout << "stop the fuck!" << std::endl;
-    // usleep(25*1000);
+    std::cout << "Rotation done" << std::endl;
     this->setRotationSpeed(0);
     usleep(25*1000);
 }

src/C++/Driver/src/main.cpp

@@ -36,7 +36,7 @@ int movement()
 
 		if (text == 1)
 		{
-			robot.goStraight(10);
+			robot.goStraight(1);
 		}
 		else if (text == 2)
 		{