From 3283cff60c978e4afddd13f253743bf25620ddf4 Mon Sep 17 00:00:00 2001
From: lt <theurerlukas@gmail.com>
Date: Fri, 9 Mar 2018 08:48:45 +0100
Subject: [PATCH] Set default speed of moving functions to 50 and added
 comments to the methods

---
 autonomous_roboclaw/Engine.py | 80 +++++++++++++++++++++++++++++++----
 1 file changed, 72 insertions(+), 8 deletions(-)

diff --git a/autonomous_roboclaw/Engine.py b/autonomous_roboclaw/Engine.py
index fc9eaa6..f4d9e04 100644
--- a/autonomous_roboclaw/Engine.py
+++ b/autonomous_roboclaw/Engine.py
@@ -1,8 +1,7 @@
-import serial, time
+import serial
 
 
 class Engine:
-    global pwm
     speed_right_wheels = 0
     speed_left_wheels = 0
 
@@ -17,41 +16,106 @@ def __init__(self):
         bytesize=serial.EIGHTBITS
     )
 
-    def move_right_wheels_forward(self, speed):
+    def move_right_wheels_forward(self, speed=50):
+        """
+        Move the right wheels forward with a default speed of 50. Another speed can be provided by calling the
+        function with a speed parameter.
+        :param speed: An int which indicates the speed
+        :return:
+        """
         self.ser.write(bytes([128, 0, speed, (128 + speed) & 0x7F]))
 
-    def move_right_wheels_backward(self, speed):
+    def move_right_wheels_backward(self, speed=50):
+        """
+        Move the right wheels backward with a default speed of 50. Another speed can be provided by calling the
+        function with a speed parameter.
+        :param speed: An int which indicates the speed
+        :return:
+        """
         self.ser.write(bytes([128, 1, speed, (129 + speed) & 0x7F]))
 
     def stop_right_wheels(self):
+        """
+        Stop the right wheels by setting speed to 0
+        :return:
+        """
         self.ser.write(bytes([128, 0, 0, 128 & 0x7F]))
 
-    def move_left_wheels_backward(self, speed):
+    def move_left_wheels_backward(self, speed=50):
+        """
+        Move the left wheels backward with a default speed of 50. Another speed can be provided by calling the
+        function with a speed parameter.
+        :param speed: An int which indicates the speed
+        :return:
+        """
         self.ser.write(bytes([128, 4, speed, (132 + speed) & 0x7F]))
 
-    def move_left_wheels_forward(self, speed):
+    def move_left_wheels_forward(self, speed=50):
+        """
+        Move the left wheels backward with a default speed of 50. Another speed can be provided by calling the
+        function with a speed parameter.
+        :param speed: An int which indicates the speed
+        :return:
+        """
         self.ser.write(bytes([128, 5, speed, (133 + speed) & 0x7F]))
 
+
     def stop_left_wheels(self):
+        """
+        Stop the left wheels by setting speed to 0
+        :return:
+
+        """
         self.ser.write(bytes([128, 4, 0, 132 & 0x7F]))
 
-    def move_all_wheels_forward(self, speed):
+    def move_all_wheels_forward(self, speed=50):
+        """
+        Move all wheels forward with a default speed of 50. Another speed can be provided by calling the
+        function with a speed parameter.
+        :param speed: An int which indicates the speed
+        :return:
+
+        """
         self.move_right_wheels_forward(speed)
         self.move_left_wheels_forward(speed)
 
     def stop_all_wheels(self):
+        """
+        Stop all wheels by setting speed to 0
+        :return:
+        """
         self.stop_right_wheels()
         self.stop_left_wheels()
 
-    def move_all_wheels_backward(self, speed):
+    def move_all_wheels_backward(self, speed=50):
+        """
+        Move all wheels backward with a default speed of 50. Another speed can be provided by calling the
+        function with a speed parameter.
+        :param speed: An int which indicates the speed
+        :return:
+        """
         self.move_right_wheels_backward(speed)
         self.move_left_wheels_backward(speed)
 
     def turn_around_left(self, speed=35):
+        """
+        Performs a left-hand turn on the spot by rotating the wheels in opposite directions.
+        Right wheels forward and left wheels backward. Another speed can be provided by calling the
+        function with a speed parameter.
+        :param speed: An int which indicates the speed
+        :return:
+        """
         self.move_right_wheels_forward(speed)
         self.move_left_wheels_backward(speed)
 
 
     def turn_around_right(self, speed=35):
+        """
+        Performs a right-hand turn on the spot by rotating the wheels in opposite directions.
+        Left wheels forward and right wheels backward. Another speed can be provided by calling the
+        function with a speed parameter.
+        :param speed: An int which indicates the speed
+        :return:
+        """
         self.move_right_wheels_backward(speed)
         self.move_left_wheels_forward(speed)