add documentation

Main_working/Main_working.ino

@@ -22,10 +22,12 @@ void setup() {
   Serial.begin(9600); // Starts the serial communication
 }
 
+// Calculates the distance by converting sound into centimeters
 long calculate_distance(long duration) {
   return duration * 0.034 / 2;
 }
 
+// Reads the ultrasound given a specific trig and echo pin
 long read_pin(int trig_pin, int echo_pin, int start_microseconds, int end_microseconds) {
   digitalWrite(trig_pin, LOW);
   delayMicroseconds(start_microseconds);
@@ -38,6 +40,7 @@ long read_pin(int trig_pin, int echo_pin, int start_microseconds, int end_micros
   return pulseIn(echo_pin, HIGH);
 }
 
+// Reads inputs from all the pins and outputs to a datapoints array
 void read_inputs(long * datapoints) {
   long duration_left = read_pin(trig_pin_left, echo_pin_left, 2, 10);
   datapoints[0] = calculate_distance(duration_left);
@@ -49,6 +52,7 @@ void read_inputs(long * datapoints) {
   datapoints[2] = calculate_distance(duration_right);
 }
 
+// Prints the sensor data
 void print_sensors(long * data) {
   Serial.print("Sensor Data: ");
   Serial.print(data[0]);
@@ -63,6 +67,7 @@ long average(long a, long b) {
   return (a + b) / 2;
 }
 
+// Compares the average of two values with a comparison value
 bool check_against(long a, long b, long comp) {
   long avg = average(a, b);
   return abs(avg - comp) > 30;