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lib/CalcAzimuth/calcAzimuth.h

@@ -1,7 +1,7 @@
 /**
  * @file calcAzimuth.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief
+ * @brief Contains a class that calculates the azimuth from a last and a current position
  * @version 0.1
  * @date 2023-09-03
  *
@@ -15,9 +15,18 @@
 #include "component.h"
 #include "point.h"
 
+/**
+ * @brief A class to calculate an azimuth
+ *
+ * This class calculates the current Azimuth with the last position
+ * where the rover has been rotated and the current position
+ */
 class CalcAzimuth : public Component
 {
 public:
+    /**
+     * @brief States which represent the quality of the current calculated azimuth
+     */
     enum State
     {
         Invalid,
@@ -27,13 +36,40 @@ public:
         Super
     };
 
+    /**
+     * @brief Construct a new Calc Azimuth object
+     *
+     * @param point current position
+     */
     CalcAzimuth(Point point);
 
+    /**
+     * @brief Have to be called if the rover rotates
+     *
+     * @param point current position
+     */
     void drivingDirectionChange(Point point);
+
+    /**
+     * @brief update the current position
+     *
+     * This function should be called if the rover has moved in
+     * a straight direction, to calculated the current Azimuth.
+     * More distance to the point given to drivingDirectionChange()
+     * increase the accuracy of the calculation.
+     *
+     * @param point current position
+     */
     void updateCurrentPosition(Point point);
     void disableCalcAzimuth() { this->directionChangeMode = false; }
 
     int16_t getAzimuth() const { return this->calcAzimuth; }
+
+    /**
+     * @brief Get the State struct
+     *
+     * @return State current quality of the calculation
+     */
     State getState() const { return this->state; }
 
     static String stateToString(State state);