From 45ae10565b7cdd8193a9bdbf2e53535be25c45c2 Mon Sep 17 00:00:00 2001
From: Matt Scalzo <matthew.scalzo@uconn.edu>
Date: Sun, 10 May 2020 17:39:00 -0400
Subject: [PATCH] Fix Comments More

I further clarified my comments and also renamed index to dataStart to
make it more clear what it was.
---
 .../io_procs/AHRSInputIOProcessor.cpp         | 25 ++++++++++---------
 1 file changed, 13 insertions(+), 12 deletions(-)

diff --git a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
index 970d6af..f507517 100644
--- a/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
+++ b/bfs/implementations/breadcrumbs/io_procs/AHRSInputIOProcessor.cpp
@@ -120,14 +120,15 @@ void AHRSInputIOProcessor::loop()
         std::cerr << "Error occured while trying to read bytes." << std::endl;
     }
 
-    /* This gets the index of the bytes for the Euler angles in the captured buffer
-     * szBuff. The 14 index of the message is where the last byte of the roll angle is.
-     * It finds the first byte of the message and then finds where the data is. This 
-     * allows me loop backward through each group of bytes since the order needs to 
-     * be reversed because the AHRS is in Big Endian.
+    /* This gets the index of the bytes for the Euler angles in the captured
+     * buffer (szBuff). First, it finds the first byte of the message (i). Then,
+     * it finds the 14th index of the message (dataStart). This is where the last
+     * byte of the roll angle is. This allows me loop backward through each group
+     * of bytes, since the order needs to be reversed because the AHRS is in Big
+     * Endian.
      
      * i is where the message starts in the buffer.
-     * index = i + 14, which is where the data we want starts (for Roll).
+     * dataStart = i + 14, which is where the data we want starts (for Roll).
      * To find Pitch and Yaw, we add 8 and 16 respectivly.
      *
      * MESSAGE STRUCTURE:
@@ -142,12 +143,12 @@ void AHRSInputIOProcessor::loop()
      *     |                    index|                index + 8|               index + 16|
      *     +-------------------------+-------------------------+-------------------------+
     */ 
-    int index = -1;
+    int dataStart = -1;
     for (int i=0; i < 32; i++)
     {
         if (szBuff[i] == 0xFA && szBuff[i+1] == 0xFF && szBuff[i+2] == 0x36)
         {
-            index = i + 14;
+            dataStart = i + 14;
             break;
         }
     }
@@ -156,13 +157,13 @@ void AHRSInputIOProcessor::loop()
     unsigned char pitchArray[8];
     unsigned char yawArray[8];
     // Puts the bytes for each angle in their own array backwards, since they are sent in big endian
-    if (index != -1)
+    if (dataStart != -1)
     {
         for (int i = 0; i < 8; i++)
         {
-            rollArray[i] = szBuff[index - i];
-            pitchArray[i] = szBuff[index - i + 8];
-            yawArray[i] = szBuff[index - i + 16];
+            rollArray[i] = szBuff[dataStart - i];
+            pitchArray[i] = szBuff[dataStart - i + 8];
+            yawArray[i] = szBuff[dataStart - i + 16];
         }
     }