changed comments to english

src/C++/Driver/src/CKobuki.h

@@ -1,13 +1,13 @@
 //#pragma once
 ////*************************************************************************************
 ////*************************************************************************************
-//// autor Martin Dekan  a Peter Beno mail: dekdekan@gmail.com, peter.beno@stuba.sk
+//// author Martin Dekan and Peter Beno mail: dekdekan@gmail.com, peter.beno@stuba.sk
 ////-------------------------------------------------------------------------------------
-//// co to je:
+//// what it is:
-//// trieda na pracu s robotom kobuki. mala by mat implementovane citanie dat
+//// class for working with the kobuki robot. it should have implemented data reading
-//// a posielanie prikazov...
+//// and sending commands...
-//// neobsahuje ziadnu logiku co s datami robit, to je na userovi aby spravil v callback funkcii
+//// it does not contain any logic on what to do with the data, it is up to the user to do it in the callback function
-//  jedna sa vlastne len o implementaciu komunikacie s hardwareom, driver
+//// it is basically just an implementation of communication with the hardware, driver
 ////*************************************************************************************
 ////*************************************************************************************
 #ifndef KOBUKI_CLASS_123456789
@@ -67,9 +67,9 @@ typedef struct
 
 typedef struct
 {
-	//---zakladny balik
+	//---basic package
 	unsigned short timestamp;
-	//narazniky
+	//bumpers
 	bool BumperLeft;
 	bool BumperCenter;
 	bool BumperRight;
@@ -77,17 +77,17 @@ typedef struct
 	bool CliffLeft;
 	bool CliffCenter;
 	bool CliffRight;
-	// padnutie kolies
+	// wheel drop
 	bool WheelDropLeft;  
 	bool WheelDropRight; 
-	//tocenie kolies
+	//wheel rotation
 	unsigned short EncoderRight;
 	unsigned short EncoderLeft;
 	unsigned char PWMright;
 	unsigned char PWMleft;
-	//gombiky
+	//buttons
-	unsigned char ButtonPress;// 0 nie, 1 2 4 pre button 0 1 2 (7 je ze vsetky tri)
+	unsigned char ButtonPress;// 0 no, 1 2 4 for button 0 1 2 (7 is all three)
-	//napajanie
+	//power
 	unsigned char Charger;
 	unsigned char Battery;
 	unsigned char overCurrent;
@@ -114,7 +114,7 @@ typedef struct
 	unsigned short analogInputCh1;
 	unsigned short analogInputCh2;
 	unsigned short analogInputCh3;
-	//---struktura s datami ktore sa nam tam objavia iba na poziadanie
+	//---structure with data that appears only on request
 	TExtraRequestData extraInfo;
 }TKobukiData;
 
@@ -127,11 +127,11 @@ public:
 	CKobuki() { 
 		stopVlakno = 0; 
 		std::cout << "kobuki instantiated" << std::endl;
-  		odometry_log.open("odometry.txt");
+		odometry_log.open("odometry.txt");
 	};
 	 virtual ~CKobuki() { 
 		stopVlakno = 1; 
-	 	close(HCom);
+		close(HCom);
 		pthread_cancel(threadHandle); 
 		odometry_log.close();
 	};
@@ -144,8 +144,8 @@ public:
 	long loop(void *user_data, TKobukiData &Kobuki_data);
 
 	void startCommunication(char *portname,bool CommandsEnabled,void *userDataL);
-	int measure(); //vlaknova funkcia, ma v sebe nekonecne vlakno a vycitava udaje
+	int measure(); //thread function, contains an infinite loop and reads data
-	void setLed(int led1 = 0, int led2 = 0); //led1 zelena/cervena 2/1, //led2 zelena/cervena 2/1
+	void setLed(int led1 = 0, int led2 = 0); //led1 green/red 2/1, //led2 green/red 2/1
 	void setTranslationSpeed(int mmpersec);
 	void setRotationSpeed(double radpersec);
 	void setArcSpeed(int mmpersec,int radius);
@@ -162,11 +162,10 @@ public:
 
 
 
-
 private:
 	int HCom;
-	pthread_t threadHandle; // handle na vlakno
+	pthread_t threadHandle; // handle to the thread
-	int threadID;  // id vlakna
+	int threadID;  // thread id
 	int stopVlakno;
 	src_callback_kobuki_data callbackFunction;
 	void *userData;
@@ -176,12 +175,12 @@ private:
 	unsigned char *readKobukiMessage();
 	int checkChecksum(unsigned char *data);
 	
-	//--spustenie merania v novom vlakne (vycitavanie bezi v novom vlakne. treba ho stopnut ak chceme poslat request)
+	//--start measurement in a new thread (reading runs in a new thread. it needs to be stopped if we want to send a request)
 	static void * KobukiProcess(void *param)
 	{
-		//std::cout << "Nase vlakno Kobuki process nastartovalo" << std::endl;
+		//std::cout << "Our thread Kobuki process started" << std::endl;
 		CKobuki *hoku = (CKobuki*)param;
-		int vystup = hoku->measure();
+		int output = hoku->measure();
 		
 		return param;
 	}
@@ -208,16 +207,16 @@ private:
 	// utilities
 	long double gyroToRad(signed short GyroAngle);
 
-    // plot p;
+	// plot p;
-    std::vector<float> vectorX;
+	std::vector<float> vectorX;
-    std::vector<float> vectorY;
+	std::vector<float> vectorY;
-    std::vector<float> vectorGyroTheta;
+	std::vector<float> vectorGyroTheta;
 
 
-    double displacement = 0;
+	double displacement = 0;
-    double integratedGyroTheta = 0;
+	double integratedGyroTheta = 0;
-    double gx = 0;
+	double gx = 0;
-    double gy = 0;
+	double gy = 0;
 
 
 };