From 0e91caf1139b180d716dc1ea71657ee0f6efe21c Mon Sep 17 00:00:00 2001
From: Justin CHARMETANT <justin.charmetant@ecam.fr>
Date: Sat, 9 Nov 2024 11:27:08 +0100
Subject: [PATCH] Add documentation and correct values for the thresholds in
 autopilot.cpp

---
 src/autopilot.cpp | 31 ++++++++++++++++++++++---------
 1 file changed, 22 insertions(+), 9 deletions(-)

diff --git a/src/autopilot.cpp b/src/autopilot.cpp
index 841dd3f..439d293 100644
--- a/src/autopilot.cpp
+++ b/src/autopilot.cpp
@@ -1,5 +1,15 @@
+/**
+ * \file autopilot.cpp
+ * \brief Autopilot of a turtlebot3 robot until it mapped most of its environment.
+ * \author Justin CHARMETANT, Maxime LOBIETTI, Gauthier BOULA DE MAREUIL
+ * \version 0.1
+ * \date 07/11/2024
+ * 
+ * Program that controls a turtlebot3 burger robot using the bringup and slam nodes from ROS noetic.
+ *  
+*/
+
 #include <ros/ros.h>
-#include "std_msgs/String.h"
 #include <std_msgs/Float64.h>
 #include <sensor_msgs/BatteryState.h>
 #include <geometry_msgs/Twist.h>
@@ -10,8 +20,8 @@ bool isCollisionDetected = false;
 bool isFinished = false;
 int angleDetection = 15;
 double distThreshold = 0.3;
-float batThreshold = 10;
-double entroThreshold = 100000000;
+float batThreshold = 10; // We want the voltage of the battery to be above 10V to run the robot.
+double entroThreshold = 0.1; // We want an entropy below 0.1 to stop the program.
 
 // Function to run when receive data from the subscribed Lidar
 void scanCallback(const sensor_msgs::LaserScan::ConstPtr& data) //
@@ -24,7 +34,7 @@ void scanCallback(const sensor_msgs::LaserScan::ConstPtr& data) //
 		double firstVal = data->ranges[i];
 		double lastVal = data->ranges[data->ranges.size()-i-1];
 		
-		// Check if one of the data is below the threshold
+		// Check if one of the data is below the threshold distance
 		if (lastVal <distThreshold && lastVal != 0.0){
 			isCollisionDetected = true;
 			break;
@@ -37,13 +47,15 @@ void scanCallback(const sensor_msgs::LaserScan::ConstPtr& data) //
 	
 }
 
-void entropyCallback(const std_msgs::Float64& entropy) //??
+// Function to run when receive data from the subscribed entropy topic from SLAM
+void entropyCallback(const std_msgs::Float64& entropy)
 {
-	if (entropy.data > entroThreshold){
+	if (entropy.data < entroThreshold){
 		isFinished = true;
 	}
 }
 
+// Function to run when receive data from the subscribed battery_state topic from SLAM
 void batteryCallback(const sensor_msgs::BatteryState::ConstPtr& bat)
 {
 	if (bat->voltage < batThreshold){
@@ -51,7 +63,8 @@ void batteryCallback(const sensor_msgs::BatteryState::ConstPtr& bat)
 	}
 }
 	
-	
+
+
 int main(int argc, char** argv)
 {
 	ros::init(argc,argv, "autopilot");
@@ -75,7 +88,7 @@ int main(int argc, char** argv)
 	{
 		geometry_msgs::Twist msg;
 		
-		
+		// If isFinished is true, it means either the map is full or the battery is low, therefore we stop moving
 		if (!isFinished){
 			if (isCollisionDetected){
 				msg.angular.z = 1;
@@ -84,7 +97,7 @@ int main(int argc, char** argv)
 				msg.linear.x = 1;
 			}
 		}
-		
+				
 		cmdVelPub.publish(msg);
 		ros::spinOnce();
 		loopRate.sleep();