From a77b3845e0d0f380e84d7ac364b80319d89b4d29 Mon Sep 17 00:00:00 2001
From: Gabe Venberg <gabevenberg@gmail.com>
Date: Mon, 30 Oct 2023 13:22:42 -0500
Subject: [PATCH] documentation, stripped out unused functionality.

---
 hardware_main/src/main.rs                  |  6 +++---
 independent_logic/src/line_drawing.rs      | 14 +++++++++-----
 independent_logic/src/tilt_compensation.rs |  4 +---
 3 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/hardware_main/src/main.rs b/hardware_main/src/main.rs
index 8c88f7b..685e480 100644
--- a/hardware_main/src/main.rs
+++ b/hardware_main/src/main.rs
@@ -116,7 +116,7 @@ fn main() -> ! {
 /// need forward in +x and right in +y (this is known as the NED (north, east, down) cordinate
 /// system)
 /// also converts to f32
-pub fn swd_to_ned(measurement: Measurement) -> NedMeasurement {
+pub fn enu_to_ned(measurement: Measurement) -> NedMeasurement {
     NedMeasurement {
         x: -measurement.y as f32,
         y: -measurement.x as f32,
@@ -136,8 +136,8 @@ fn calc_heading(
     let mag_data = calibration::calibrated_measurement(mag_data, mag_calibration);
     let acel_data = sensor.accel_data().unwrap();
 
-    let mut ned_mag_data = swd_to_ned(mag_data);
-    let ned_acel_data = swd_to_ned(acel_data);
+    let mut ned_mag_data = enu_to_ned(mag_data);
+    let ned_acel_data = enu_to_ned(acel_data);
 
     let attitude = calc_attitude(&ned_acel_data);
 
diff --git a/independent_logic/src/line_drawing.rs b/independent_logic/src/line_drawing.rs
index 9847782..d34c765 100644
--- a/independent_logic/src/line_drawing.rs
+++ b/independent_logic/src/line_drawing.rs
@@ -5,6 +5,7 @@ use core::{
 #[cfg(test)]
 use std::dbg;
 
+/// a signed point in 2d space
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub struct Point {
     pub x: isize,
@@ -23,6 +24,7 @@ impl Point {
     }
 }
 
+/// an unsigned point in 2d space
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub struct UPoint {
     pub x: usize,
@@ -42,7 +44,7 @@ impl UPoint {
 }
 
 /// A matrix that allows negative co-oordinates. Will panic if referencing out of bounds, just like
-/// a nomral matrix.
+/// a normal 2d array.
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub struct FourQuadrantMatrix<const X: usize, const Y: usize, T> {
     matrix: [[T; X]; Y],
@@ -56,6 +58,8 @@ where
     T: Copy,
     T: Default,
 {
+    /// generates a new FourQuadrantMatrix with a given zero point (the point in the underlying 2d
+    /// array considered to be (0,0))
     pub fn new(zero_coord: UPoint) -> FourQuadrantMatrix<{ X }, { Y }, T> {
         FourQuadrantMatrix {
             matrix: [[T::default(); X]; Y],
@@ -77,6 +81,7 @@ where
         self.max_point
     }
 
+    /// makes sure a point is in bounds and if not, brings it in bounds.
     pub fn bound_point(&self, point: &mut Point) {
         if point.x > self.max_point.x {
             point.x = self.max_point.x
@@ -95,12 +100,14 @@ where
         }
     }
 
+    /// checks if the point is in bounds.
     pub fn is_in_bounds(&self, point: &Point) -> bool {
         point.x <= self.max_point.x
             && point.y <= self.max_point.y
             && point.x >= self.min_point.x
             && point.y >= self.min_point.y
     }
+    /// fills the matrix with the Ts default value.
     pub fn reset_matrix(&mut self) {
         self.matrix = [[T::default(); X]; Y];
     }
@@ -132,13 +139,10 @@ impl<T, const X: usize, const Y: usize> From<FourQuadrantMatrix<{ X }, { Y }, T>
     }
 }
 
+/// a line segment in 2d space, described by its two endpoints
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub struct Line(pub Point, pub Point);
 
-//no boxes here!
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
-pub struct ULine(pub UPoint, pub UPoint);
-
 /// Renders a line into a matrix of pixels.
 /// Will not attempt to mutate outside bounds of the matrix, so it is safe to draw lines that
 /// extend past its edges.
diff --git a/independent_logic/src/tilt_compensation.rs b/independent_logic/src/tilt_compensation.rs
index 423680f..fae117b 100644
--- a/independent_logic/src/tilt_compensation.rs
+++ b/independent_logic/src/tilt_compensation.rs
@@ -13,8 +13,7 @@ pub struct NedMeasurement {
     pub z: f32,
 }
 
-//theta=0 at north, pi/-pi at south, pi/2 at east, and -pi/2 at west (desired)
-//theta=0 at south, pi/-pi at north, pi/2 at east, and -pi/2 at west (current)
+///theta=0 at north, pi/-pi at south, pi/2 at east, and -pi/2 at west
 pub struct Heading(pub f32);
 
 pub fn calc_attitude(measurement: &NedMeasurement) -> Attitude {
@@ -22,7 +21,6 @@ pub fn calc_attitude(measurement: &NedMeasurement) -> Attitude {
     let roll = atan2f(measurement.y, measurement.z);
     let pitch = atanf(-measurement.x / (measurement.y * sinf(roll) + measurement.z * cosf(roll)));
     Attitude { pitch, roll }
-    // Attitude { pitch: 0.0, roll: 0.0 }
 }
 
 pub fn calc_tilt_calibrated_measurement(