From 3892c2baebea12ec7fc877b1cc659fff9b1fa7e6 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Tue, 11 Mar 2025 17:34:23 +0100
Subject: [PATCH] Added diff.drive and touchsensor

---
 Things/DifferentialDrive.py | 11 +++++++++++
 Things/TouchSensor.py       | 13 ++++++++-----
 2 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/Things/DifferentialDrive.py b/Things/DifferentialDrive.py
index 4fd62cb..04a3266 100644
--- a/Things/DifferentialDrive.py
+++ b/Things/DifferentialDrive.py
@@ -4,7 +4,11 @@ from LinearAlgebra.Direction import Direction
 from LinearAlgebra.Angle import Angle
 
 class DifferentialDrive(Thing):
+    """! A thing which can move itself using a differential drive system
+    """
     def __init__(self, participant = None):
+        """! Create a new differential drive
+        """
         super().__init__(participant)
 
         ## The radius of a wheel in meters
@@ -38,6 +42,10 @@ class DifferentialDrive(Thing):
             self.wheel_right.SetPosition(Spherical(distance, Direction.Right))
 
     def SetWheelVelocity(self, speed_left, speed_right):
+        """! Directly specify the speeds of the motors
+        @params speed_left The speed of the left wheel in degrees per second. Positive moves the robot in the forward direction.
+        @params speed_right The speed of the right wheel in degrees per second. Positive moves the robot in the forward direction.
+        """
         if self.wheel_left is not None:
             self.wheel_left.SetAngularVelocity(Spherical(speed_left, Direction.Left))
         
@@ -45,6 +53,9 @@ class DifferentialDrive(Thing):
             self.wheel_right.SetAngularVelocity(Spherical(speed_right, Direction.Right))
 
     def Update(self, currentTimeMs, recursive = True):
+        """!
+        @copydoc Thing::Update
+        """
         # This assumes forward velocity only...
         linear_velocity: Spherical = self.GetLinearVelocity().distance
 
diff --git a/Things/TouchSensor.py b/Things/TouchSensor.py
index 2179107..f202552 100644
--- a/Things/TouchSensor.py
+++ b/Things/TouchSensor.py
@@ -1,14 +1,17 @@
 from Thing import Thing
 
 class TouchSensor(Thing):
+    """! A sensor which can detect touches
+    """
     def __init__(self, owner, parent):
+        """! Create a touch sensor
+        """
         super().__init__(owner, parent)
         
         ## Value which is true when the sensor is touching something, false otherwise
         self.touched_somthing = False
 
-        def GenerateBinary(bytes, ix_ref):
-            pass
-
-        def ProcessBinary(bytes):
-            pass
\ No newline at end of file
+    def ProcessBinary(bytes):
+        """! Function to extract the touch state received in a binary message
+        """
+        pass
\ No newline at end of file