Cleaned up code and added comments

Author: himalayanelixir

arduino_controller/arduino_controller.ino

@@ -1,10 +1,10 @@
 #include <String.h>
 #include <Servo.h>
 
+// constants
 #define DEBOUNCE_TIME    .5
 #define SAMPLE_FREQUENCY  20
 #define MAXIMUM     (DEBOUNCE_TIME * SAMPLE_FREQUENCY)
-
 #define NUMBER_MOTORS 2
 
 // function declarations
@@ -19,13 +19,16 @@ bool newData = false;
 
 // initialize motors
 Servo myServo[NUMBER_MOTORS];
-// create a array of ports. Each line corresponds to the motor number starting from 0.
-// the order of the ports is motor, counter, reset
+// create a array of ports with the order: motor, counter, reset
 int ports[NUMBER_MOTORS][3] = {{2, 3, 4},{5, 6, 7}};
 
+// string array of motor directions
 String motor_direction[NUMBER_MOTORS] = {""};;
+// array of how many rotations a motor has to go 
 byte motor_rotation_number[NUMBER_MOTORS] = {0};
+// array of new switch values
 byte motor_sensor_counter1[NUMBER_MOTORS] = {0};;
+// array of old switch values
 byte motor_sensor_counter2[NUMBER_MOTORS] = {0};;
 
 // 0 or 1 depending on the input signal
@@ -35,7 +38,9 @@ int integrator[NUMBER_MOTORS] = {0};
 // cleaned-up version of the input signal
 byte output[NUMBER_MOTORS]= {0};;      
 
+
 void setup() {
+  // setup serial port
   Serial.begin(9600);
 
   // initialize all motor ports
@@ -73,8 +78,17 @@ void setup() {
   Serial.println(">");
 }
 
+
 void loop() {
+  // check to see if there is any new data
   RecvWithStartEndMarkers();
-  ShowNewData();
-}
 
+  // if there is new data process it
+  if (newData == true) {
+    newData = false;
+    Serial.println("<");
+    Serial.print("Arduino: ");
+    Serial.println(receivedChars);
+    ProcessData();
+  }
+}

arduino_controller/arduino_controller_functions.ino

@@ -1,6 +1,11 @@
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 
+// This file contains funcitons that process the data that is recieved from the raspberry pi
+
+//////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////
+
 void ProcessData() {
 
 /*   // variables
@@ -104,9 +109,6 @@ void checkswitch(int switchPort) {
 }
 
 
-
-
-
 /* void Reset1() {
   myservo1.write(100);
   while(true) {

arduino_controller/communications.ino

@@ -1,6 +1,12 @@
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 
+// This file contains funcitons that help the arduino communitate with the raspberry pi
+
+//////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////
+
+// handles the recieving of data over the serial port
 void RecvWithStartEndMarkers() {
   static boolean recvInProgress = false;
   static byte ndx = 0;
@@ -34,10 +40,7 @@ void RecvWithStartEndMarkers() {
 
 }
 
-//////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
-
-
+// helps get a particular value from the incoming data string
 String getValue(String data, char separator, int index)
 {
     int found = 0;
@@ -54,35 +57,15 @@ String getValue(String data, char separator, int index)
     return found > index ? data.substring(strIndex[0], strIndex[1]) : "";
 }
 
-//////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
-
-void ShowNewData() {
-  if (newData == true) {
-    newData = false;
-    Serial.println("<");
-    Serial.print("Arduino: ");
-    Serial.println(receivedChars);
-    // NOT SURE IF I NEED THIS MARKER
-    // Serial.println(" >");
-    // From here we execute the commands that were send via the message
-    ProcessData();
-  }
-}
-
-//////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
-
+// sends message back to raspberry pi saying the command has been executed
 void Finished() {
     Serial.println("Finished Current Job");
     Serial.println("---------");
     Serial.println("Ready for New Job");
     Serial.println(">");
 }
 
-//////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////
-
+// sends error message back to raspberry pi
 void Invalid() {
     Serial.println("<");  
     Serial.print("Arduino: ");