Sphinx auto-docs working!

Author: ksiegall

XRPLib/differential_drive.py

@@ -86,8 +86,7 @@ def stop(self) -> None:
 
     def reset_encoder_position(self) -> None:
         """
-        Set the position of the motors' encoders in degrees. Note that this does not actually move the motor but just recalibrates the stored encoder value.
-        If only one encoder position is specified, the encoders for each motor will be set to that position.
+        Resets the position of both motors' encoders to 0
         """
 
         self.left_motor.reset_encoder_position()
@@ -208,7 +207,8 @@ def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = No
         :type main_controller: Controller
         :param secondary_controller: The secondary controller, for maintaining position during the turn by controlling the encoder count difference
         :type secondary_controller: Controller
-        :param use_imu: A boolean flag that changes if the main controller bases it's movement off of 
+        :param use_imu: A boolean flag that changes if the main controller bases its movement off of the imu (True) or the encoders (False)
+        :type use_imu: bool
         :return: if the distance was reached before the timeout
         :rtype: bool
         """

XRPLib/encoded_motor.py

@@ -59,9 +59,9 @@ def __init__(self, motor: Motor, encoder: Encoder):
 
         self.target_speed = None
         self.DEFAULT_SPEED_CONTROLLER = PID(
-            5,
-            0.25,
-            0,
+            kp=5,
+            ki=0.25,
+            kd=0,
         )
         self.speedController = self.DEFAULT_SPEED_CONTROLLER
         self.prev_position = 0

XRPLib/imu.py

@@ -7,19 +7,19 @@
 from machine import I2C, Pin, Timer, disable_irq, enable_irq
 import time, math
 
-LSM6DSO_CTRL1_XL = const(0x10)
-LSM6DSO_CTRL2_G = const(0x11)
-LSM6DSO_CTRL3_C = const(0x12)
-LSM6DSO_CTRL6_C = const(0x15)
-LSM6DSO_CTRL8_XL = const(0x17)
-LSM6DSO_STATUS = const(0x1E)
-LSM6DSO_OUT_TEMP_L = const(0x20)
-LSM6DSO_OUTX_L_G = const(0x22)
-LSM6DSO_OUTY_L_G = const(0x24)
-LSM6DSO_OUTZ_L_G = const(0x26)
-LSM6DSO_OUTX_L_A = const(0x28)
-LSM6DSO_OUTY_L_A = const(0x2A)
-LSM6DSO_OUTZ_L_A = const(0x2C)
+LSM6DSO_CTRL1_XL = 0x10
+LSM6DSO_CTRL2_G = 0x11
+LSM6DSO_CTRL3_C = 0x12
+LSM6DSO_CTRL6_C = 0x15
+LSM6DSO_CTRL8_XL = 0x17
+LSM6DSO_STATUS = 0x1E
+LSM6DSO_OUT_TEMP_L = 0x20
+LSM6DSO_OUTX_L_G = 0x22
+LSM6DSO_OUTY_L_G = 0x24
+LSM6DSO_OUTZ_L_G = 0x26
+LSM6DSO_OUTX_L_A = 0x28
+LSM6DSO_OUTY_L_A = 0x2A
+LSM6DSO_OUTZ_L_A = 0x2C
 
 """
     Options for accelerometer and gyroscope scale factors
@@ -378,11 +378,11 @@ def calibrate(self, calibration_time:float=3, vertical_axis:int= 2, update_time:
 
         self.acc_offsets = avg_vals[0]
         self.gyro_offsets = avg_vals[1]
-        self.update_timer.init(period=update_time, callback=lambda t:self.update_imu_readings())
+        self.update_timer.init(period=update_time, callback=lambda t:self._update_imu_readings())
         self.update_time = update_time/1000
 
 
-    def update_imu_readings(self):
+    def _update_imu_readings(self):
         # Called every tick through a callback timer
 
         delta_pitch = self._get_gyro_x_rate()*self.update_time / 1000

XRPLib/webserver.py

@@ -15,6 +15,10 @@ def get_default_webserver(cls):
         return webserver
 
     def __init__(self):
+        """
+        Host a webserver for the XRP v2 Robot; Register your own callbacks and log your own data to the webserver using the methods below.
+        """
+
         gc.threshold(50000) # garbage collection
         self.DOMAIN = "remote.xrp"
         self.logged_data = {}
@@ -30,6 +34,7 @@ def __init__(self):
     def start_server(self, robot_number:int):
         """
         Start the webserver
+
         :param robot_number: The number of the robot, used to generate the access point name
         :type robot_number: int
         """
@@ -68,6 +73,7 @@ def _catch_all(self, request):
     def log_data(self, label:str, data):
         """
         Register a custom label to be displayed on the webserver
+
         :param label: The label as it will be displayed, must be unique
         :type label: str
         :param data: The data to be displayed
@@ -78,6 +84,7 @@ def log_data(self, label:str, data):
     def add_button(self, button_name:str, function):
         """
         Register a custom button to be displayed on the webserver
+
         :param button_name: The label for the button as it will be displayed, must be unique
         :type button_name: str
         :param function: The function to be called when the button is pressed
@@ -88,6 +95,7 @@ def add_button(self, button_name:str, function):
     def registerForwardButton(self, function):
         """
         Assign a function to the forward button
+
         :param function: The function to be called when the button is pressed
         :type function: function
         """
@@ -97,6 +105,7 @@ def registerForwardButton(self, function):
     def registerBackwardButton(self, function):
         """
         Assign a function to the backward button
+
         :param function: The function to be called when the button is pressed
         :type function: function
         """
@@ -106,6 +115,7 @@ def registerBackwardButton(self, function):
     def registerLeftButton(self, function):
         """
         Assign a function to the left button
+
         :param function: The function to be called when the button is pressed
         :type function: function
         """
@@ -115,6 +125,7 @@ def registerLeftButton(self, function):
     def registerRightButton(self, function):
         """
         Assign a function to the right button
+
         :param function: The function to be called when the button is pressed
         :type function: function
         """
@@ -123,7 +134,8 @@ def registerRightButton(self, function):
 
     def registerStopButton(self, function):
         """
-        Assign a function to the stop button
+        Assign a function to the stop 
+        
         :param function: The function to be called when the button is pressed
         :type function: function
         """

docs/api.rst

@@ -6,6 +6,7 @@
 
 API Reference
 =============
+
 .. automodule:: XRPLib
     :members:
     :undoc-members:
@@ -62,27 +63,15 @@ Miscellaneous
     :members:
     :undoc-members:
 
-.. automodule:: XRPLib.defaults
-    :members:
-    :undoc-members:
-
 .. autoclass:: XRPLib.pid.PID
     :members:
     :undoc-members:
     :show-inheritance:
 
-.. automodule:: XRPLib.resetbot
-    :members:
-    :undoc-members:
-
 .. autoclass:: XRPLib.timeout.Timeout
     :members:
     :undoc-members:
 
-.. automodule:: XRPLib.version
-    :members: __version__
-    :undoc-members:
-
 .. autoclass:: XRPLib.webserver.Webserver
     :members:
     :undoc-members:

docs/conf.py

@@ -39,7 +39,7 @@
     'btree',
     'rp2',
     'phew',
-]
+    'gc']
 
 autodoc_preserve_defaults = True