load cell and sab interface documentation

lib/interfaces/include/LoadCellInterface.h

@@ -1,12 +1,18 @@
 #ifndef __LOADCELLINTERFACE_H__
 #define __LOADCELLINTERFACE_H__
 
+/* Library */
 #include "Utility.h"
 #include "SysClock.h"
-#include "AnalogSensorsInterface.h"
 
-/* Structs */
+/* Interface */
+#include "AnalogSensorsInterface.h"
 
+/**
+ * Struct holding conversions for each wheel's load cell data. 
+ * AnalogConversion_s struct holds raw and converted values and whether the result was clamped.
+ * Load cell data is converted from raw -> lbs 
+ */
 struct LoadCellInterfaceTick_s
 {
     const AnalogConversion_s &FLConversion;
@@ -15,13 +21,22 @@ struct LoadCellInterfaceTick_s
     const AnalogConversion_s &RRConversion;
 };
 
+/**
+ * Struct containing converted and filtered load cell data
+ */
 struct LoadCellInterfaceOutput_s
 {
     veh_vec<float> loadCellForcesFiltered;
     veh_vec<AnalogConversion_s> loadCellConversions;
     bool FIRSaturated;
 };
 
+
+/**
+ * The LoadCellInterface filters load cell signals to be used in the TorqueControllers system.
+ * Applies FIR filter and determines if signal is saturated
+ * [why specifically do we use a FIR filter?]
+ */
 class LoadCellInterface
 {
 private:
@@ -56,8 +71,19 @@ class LoadCellInterface
     veh_vec<float> loadCellForcesFiltered_;
     bool FIRSaturated_ = false;
 public:
+    /**
+     * Default constructor
+     */
     LoadCellInterface() {}
+
+    /**
+     * Updates load cell force vectors after receiving new data
+     */
     void tick(const LoadCellInterfaceTick_s &intake);
+
+    /**
+     * Getter for load cell output data
+     */
     LoadCellInterfaceOutput_s getLoadCellForces();
 };
 

lib/interfaces/include/SABInterface.h

@@ -1,19 +1,33 @@
 #ifndef __SABINTERFACE_H__
 #define __SABINTERFACE_H__
 
+/* Library */
 #include "hytech.h"
 #include "FlexCAN_T4.h"
+
+/* Interface */
 #include "AnalogSensorsInterface.h"
 
+/**
+ * The SAB Interface receieves CAN messages containing load cell and potentionmeter readings.
+ * Through this interface values are parsed, updated, and converted to real units.
+ */
 class SABInterface
 {
 private:
 public:
+    /* Rear load cell output */
     AnalogChannel rlLoadCell;
     AnalogChannel rrLoadCell;
+
+    /* Rear potentiometer output */
     AnalogChannel pot3;
     AnalogChannel pot4;
 
+    /**
+     * Constructor that defines conversion for both load cells and potentionmeter data
+     * Defined offset and scale values from MCU_rev15_defs are used to convert from raw data to correct units (pounds)
+     */
     SABInterface(
         float rlLoadCellScale,
         float rlLoadCellOffset,
@@ -38,13 +52,22 @@ class SABInterface
         pot4.offset = pot4Offset;
     };
 
+     /**
+     * Overloaded constructor with default values for potentiometer data. 
+     * Sets pot scale to 1.0 and offset to 0.0 so value stays same as last sample. 
+     */
     SABInterface(
         float rlLoadCellScale,
         float rlLoadCellOffset,
         float rrLoadCellScale,
         float rrLoadCellOffset
     ) : SABInterface (rlLoadCellScale, rlLoadCellOffset, rrLoadCellScale, rrLoadCellOffset, 1.0, 0.0, 1.0, 0.0) {};
 
+
+    /**
+     * Parses CAN message into individual values for rear load cell and potentiometer readings.
+     * Updates each sensor's lastSample and converts data to pounds
+     */
     void retrieve_pots_and_load_cells_CAN(CAN_message_t &recvd_msg);
 };