From de73cd5edc2d64530db26477de18a034a52a1584 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Wed, 30 Apr 2025 11:40:59 +0200
Subject: [PATCH] Completed things docs

---
 RoboidControl/Thing.py                    |  7 ++++---
 RoboidControl/Things/DifferentialDrive.py | 21 ++++++++++++++++++---
 2 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/RoboidControl/Thing.py b/RoboidControl/Thing.py
index 5da7919..d27c667 100644
--- a/RoboidControl/Thing.py
+++ b/RoboidControl/Thing.py
@@ -23,9 +23,10 @@ class Thing:
         Servo = 0x08
         # Other
         Roboid = 0x09
-        Humanoid = 0x10
-        ExternalSensor = 0x11
-        Animator = 0x40
+        Humanoid = 0x0A
+        ExternalSensor = 0x0B
+        Animator = 0x0C
+        DifferentialDrive = 0x0D
 
     Position = 0x01
     Orientation = 0x02
diff --git a/RoboidControl/Things/DifferentialDrive.py b/RoboidControl/Things/DifferentialDrive.py
index 38853a0..2e8b3c4 100644
--- a/RoboidControl/Things/DifferentialDrive.py
+++ b/RoboidControl/Things/DifferentialDrive.py
@@ -5,21 +5,32 @@ from LinearAlgebra.Angle import Angle
 
 class DifferentialDrive(Thing):
     """! A thing which can move itself using a differential drive system
+    @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
     """
-    def __init__(self, participant = None):
-        """! Create a new differential drive
+    def __init__(self, owner = None, parent = None, thing_id = 0):
+        """! Create a differential drive
         """
-        super().__init__(participant)
+        super().__init__(owner = owner, parent = parent, thing_type = Thing.Type.DifferentialDrive, thing_id = thing_id)
 
         ## The radius of a wheel in meters
         self.wheel_radius = 1.0
         ## The distance between the wheels in meters
         self.wheel_separation = 1.0
         
+        ## The left wheel
         self.wheel_left: Thing = None
+        ## The right wheel
         self.wheel_right: Thing = None
 
     def SetDriveDimensions(self, wheel_diameter, wheel_separation):
+        """! Configures the dimensions of the drive
+        @param wheelDiameter The diameter of the wheels in meters
+        @param wheelSeparation The distance between the wheels in meters
+        
+        These values are used to compute the desired wheel speed from the set
+        linear and angular velocity.
+        @sa SetLinearVelocity SetAngularVelocity
+        """
         if wheel_diameter < 0:
             wheel_diameter = -wheel_diameter
         self.wheel_radius = wheel_diameter / 2
@@ -31,6 +42,10 @@ class DifferentialDrive(Thing):
         self.SetMotors(self.wheel_left, self.wheel_right)
 
     def SetMotors(self, wheel_left, wheel_right):
+        """! Congures the motors for the wheels
+        @param leftWheel The motor for the left wheel
+        @param rightWheel The motor for the right wheel
+        """
         distance: float = self.wheel_separation / 2
 
         self.wheel_left = wheel_left