Some progress

Author: ufechner7

docs/src/components.md

@@ -5,7 +5,21 @@ CurrentModule = WinchControllers
 ```@docs
 Integrator
 Integrator(dt, i=1.0, x0=0.0)
-reset
-calc_output
-on_timer
+reset(int::Integrator, x0=0.0)
+calc_output(int::Integrator, input)
+on_timer(int::Integrator)
+```
+
+## UnitDelay
+```@docs
+UnitDelay
+reset(ud::UnitDelay)
+calc_output(ud::UnitDelay, input)
+on_timer(ud::UnitDelay)
+```
+
+## CalcVSetIn
+```@docs
+set_vset_pc(cvi::CalcVSetIn, v_set_pc, force)
+calc_output(cvi::CalcVSetIn)
 ```

docs/src/functions.md

@@ -1,10 +1,6 @@
 ```@meta
 CurrentModule = WinchControllers
 ```
-## Input functions
-```@docs
-set_vset_pc
-```
 
 ## Output functions
 ```@docs

docs/src/types.md

@@ -6,7 +6,6 @@ CurrentModule = WinchControllers
 
 ## Control components
 ```@docs
-UnitDelay
 RateLimiter
 Mixer_2CH
 Mixer_3CH

src/components.jl

@@ -27,15 +27,17 @@ $(TYPEDFIELDS)
 end
 
 """
-    Integrator(dt, i=1.0, x0=0.0)
+    function Integrator(dt, i=1.0, x0=0.0)
 
 Constructor for discrete integrator with external reset.
 
 # Parameters
-
 - dt: timestep [s]
 - i:  integration constant
 - x0: initial and last output
+
+# Returns
+- a new struct of type `Integrator`
 """
 function  Integrator(dt, i=1.0, x0=0.0)
     Integrator(dt, i, x0, x0)
@@ -47,9 +49,11 @@ end
 Reset the integrator `int` to the value `x0`.
 
 # Parameters
-
 - int::Integrator: An integrator struct
 - x0: default value =0.0; initial and last output
+
+# Returns
+- nothing
 """
 function reset(int::Integrator, x0=0.0)
     int.output = x0
@@ -66,6 +70,9 @@ Calculate and return the output without updating `last_output`.
 
 - int::Integrator: An integrator struct
 - input: The input value
+
+# Returns
+- the output value
 """
 function calc_output(int::Integrator, input)
     int.output = int.last_output + input * int.i * int.dt
@@ -79,6 +86,9 @@ Update the field `last_output`. Must be called once per time-step.
 # Parameters
 
 - int::Integrator: An integrator struct
+
+# Returns
+- nothing
 """
 function on_timer(int::Integrator)
     int.last_output = int.output
@@ -99,18 +109,55 @@ $(TYPEDFIELDS)
     last_input = 0
 end
 
+"""
+    calc_output(ud::UnitDelay, input)
+
+Calculate and return the output and update the `last_input`, but not the `last_output`.
+
+# Parameters
+- int::UnitDelay: A `UnitDelay` struct
+- input: The input value
+
+# Returns
+- the last output
+"""
 function calc_output(ud::UnitDelay, input)
     ud.last_input = input
     ud.last_output
 end
 
+"""
+    on_timer(ud::UnitDelay)
+
+Update the field `last_output`. Must be called once per time-step.
+
+# Parameters
+
+- ud::UnitDelay: A UnitDelay struct
+
+# Returns
+- nothing
+"""
 function on_timer(ud::UnitDelay)
     ud.last_output = ud.last_input
+    nothing
 end
 
+"""
+    reset(ud::UnitDelay)
+
+Reset the `last_input` and `last_output` of the struct ud to zero.
+
+# Parameters
+- ud::UnitDelay: A `UnitDelay` struct
+
+# Returns
+- nothing
+"""
 function reset(ud::UnitDelay)
     ud.last_input = 0.0
     ud.last_output = 0.0
+    nothing
 end
 
 """

src/wc_components.jl

@@ -44,9 +44,12 @@ end
     set_vset_pc(cvi::CalcVSetIn, v_set_pc, force)
 
 Parameters:
-- force:    measured tether force [N]
-- v_set_pc: only used during manual operation or park-at-length. If it is `nothing`,
-            v_set_in is calculated as function of the force.
+- force:      measured tether force [N]
+- `v_set_pc`: only used during manual operation or park-at-length. If it is `nothing`,
+              `v_set_in` is calculated as function of the force.
+
+Returns:
+- nothing
 """
 function set_vset_pc(cvi::CalcVSetIn, v_set_pc, force=nothing)
     if isnothing(v_set_pc)
@@ -62,7 +65,11 @@ end
 """
     calc_output(cvi::CalcVSetIn)
 
-Returns v_set_in: Either v_set, or a value, proportional to the sqare root of the force.
+## Parameters
+- cvi::CalcVSetIn: A struct of type CalcVSetIn
+
+## Returns 
+- `v_set_in`: Either `v_set`, or a value, proportional to the square root of the force.
 """
 function calc_output(cvi::CalcVSetIn)
     calc_output(cvi.mixer2, cvi.input_a, cvi.input_b)

src/winchcontroller.jl

@@ -1,8 +1,6 @@
 # Winch winch controller component, implemented as described in the PhD thesis of Uwe Fechner. 
 @enum WinchControllerState wcsLowerForceLimit wcsSpeedControl wcsUpperForceLimit
 
-
-
 """
     mutable struct WinchController