From bb1904b125f987ec8889ed718eda5934f0a480c3 Mon Sep 17 00:00:00 2001
From: "ishak jmilou.ishak" <ishak.jmiloui@hva.nl>
Date: Mon, 6 Jan 2025 09:53:01 +0100
Subject: [PATCH] commentaar naar engels

---
 src/C++/Driver/src/KobukiDriver/CKobuki.cpp | 41 ++++++++++-----------
 1 file changed, 20 insertions(+), 21 deletions(-)

diff --git a/src/C++/Driver/src/KobukiDriver/CKobuki.cpp b/src/C++/Driver/src/KobukiDriver/CKobuki.cpp
index 429e7f9..1d82a4e 100755
--- a/src/C++/Driver/src/KobukiDriver/CKobuki.cpp
+++ b/src/C++/Driver/src/KobukiDriver/CKobuki.cpp
@@ -68,7 +68,7 @@ int CKobuki::connect(char *comportT) {
   HCom = open(comportT, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
   if (HCom == -1) {
-    printf("Kobuki nepripojeny\n");
+    printf("Kobuki connected\n");
     return HCom;
   } else {
     set_interface_attribs2(HCom, B115200,
@@ -89,7 +89,7 @@ int CKobuki::connect(char *comportT) {
       tcsetattr(HCom, TCSANOW, &settings); // apply the settings*/
     tcflush(HCom, TCOFLUSH);
 
-    printf("Kobuki pripojeny\n");
+    printf("Kobuki connected\n");
     return HCom;
   }
 }
@@ -99,27 +99,26 @@ unsigned char *CKobuki::readKobukiMessage() {
   ssize_t Pocet;
   buffer[0] = 0;
   unsigned char *null_buffer(0);
-  // citame kym nezachytime zaciatok spravy
+
+  // Read until the start of the message is detected
   do {
     Pocet = read(HCom, buffer, 1);
   } while (buffer[0] != 0xAA);
-  // mame zaciatok spravy (asi)
+
+  // We have the start of the message (possibly)
   if (Pocet == 1 && buffer[0] == 0xAA) {
-    // citame dalsi byte
+    // Read the next byte
     do {
-
       Pocet = read(HCom, buffer, 1);
+    } while (Pocet != 1); // On Linux: -1, on Windows: 0
 
-    } while (Pocet != 1); // na linuxe -1 na windowse 0
-
-    // a ak je to druhy byte hlavicky
+    // If it is the second byte of the header
     if (Pocet == 1 && buffer[0] == 0x55) {
-      // precitame dlzku
+      // Read the length
       Pocet = read(HCom, buffer, 1);
 
-      // ReadFile(hCom, buffer, 1, &Pocet, NULL);
       if (Pocet == 1) {
-        // mame dlzku.. nastavime vektor a precitame ho cely
+        // We have the length; initialize a buffer and read the entire message
         int readLenght = buffer[0];
         unsigned char *outputBuffer =
             (unsigned char *)calloc(readLenght + 4, sizeof(char));
@@ -134,7 +133,7 @@ unsigned char *CKobuki::readKobukiMessage() {
           pct = pct + (Pocet == -1 ? 0 : Pocet);
         } while (pct != (readLenght + 1));
 
-        // tu si mozeme ceknut co chodi zo serial intefejsu Kobukiho
+        // Here we can check what data is received from the Kobuki's serial interface
         // for(int i=0;i<outputBuffer[0]+2;i++)
         // {
         // 	printf("%x ",outputBuffer[i]);
@@ -162,8 +161,8 @@ void CKobuki::setLed(int led1, int led2) {
   pocet = write(HCom, &message, 8);
 }
 
-// tato funkcia nema moc sama o sebe vyznam, payload o tom, ze maju byt externe
-// napajania aktivne musi byt aj tak v kazdej sprave...
+// this function doesn't have much meaning by itself, the payload about them being external
+// power supplies must be active in every message anyway...
 void CKobuki::setPower(int value) {
   if (value == 1) {
     unsigned char message[8] = {0xaa, 0x55, 0x04, 0x0C, 0x02, 0xf0, 0x00, 0xAF};
@@ -267,13 +266,13 @@ int CKobuki::measure() {
   while (stopVlakno == 0) {
     unsigned char *message = readKobukiMessage();
     if (message == NULL) {
-      // printf("vratil null message\n");
-      continue;
+    // printf("returned null message\n");
+    continue;
     }
     int ok = parser.parseKobukiMessage(parser.data, message);
 
-    // maximalne moze trvat callback funkcia 20 ms, ak by trvala viac, nestihame
-    // citat
+    // the maximum callback function can take 20 ms, if it takes longer, we won't be able to do it
+    // read
     if (ok == 0) {
       loop(userData, parser.data);
     }
@@ -353,7 +352,7 @@ long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
   totalLeft += dLeft;
   totalRight += dRight;
 
-  // ak je suma novej a predchadzajucej vacsia ako 65536 tak to pretieklo?
+// if the sum of the new and previous is greater than 65536 then it overflowed?
   directionL = (prevLeftEncoder < Kobuki_data.EncoderLeft ? 1 : -1);
   directionR = (prevRightEncoder < Kobuki_data.EncoderRight ? 1 : -1);
   dTimestamp = (Kobuki_data.timestamp < prevTimestamp
@@ -387,7 +386,7 @@ long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) {
 
 // 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
+// it uses setArcSpeed ​​and uses encoder data as feedback
 void CKobuki::goStraight(long double distance) {
   long double u_translation =
       0; // controlled magnitude, speed of the robot in motion