add more info on eye led indexes and add some examples

eye-led-indexes.rst

@@ -0,0 +1,56 @@
+.. _eye_led_indexes:
+
+Eye Led Indexes
+###############
+
+.. image:: images/eye_leds.png
+
+The following list is from ``EyeLeds.msg``:
+
+.. code-block:: cpp
+
+  int32 L0=0
+  int32 L1=1
+  int32 L2=2
+  int32 L3=3
+  int32 L4=4
+  int32 L5=5
+  int32 L6=6
+  int32 L7=7
+  int32 R0=8
+  int32 R1=9
+  int32 R2=10
+  int32 R3=11
+  int32 R4=12
+  int32 R5=13
+  int32 R6=14
+  int32 R7=15
+  int32 NUM_EYE_LEDS=16
+
+Setting color for one led
+**************************
+
+.. code-block:: cpp
+
+    // Set led L0 to red
+    nao_interfaces::msg::EyeLeds eye_leds;
+    eye_leds.leds[nao_interfaces::msg::EyeLeds::L0].r = 1.0;
+
+Setting color for all leds
+**************************
+
+To populate all LEDs to be a certain color, you can iterate over ``nao_interfaces::msg::EyeLeds::NUM_EYE_LEDS``.
+
+.. code-block:: cpp
+
+    // Set all leds to yellow
+    nao_interfaces::msg::EyeLeds eye_leds;
+
+    std_msgs/ColorRGBA yellow;
+    yellow.r = 1.0;
+    yellow.g = 1.0;
+
+    for (unsigned i = 0; i < nao_interfaces::msg::EyeLeds::NUM_EYE_LEDS; ++i)
+    {
+      eye_leds.leds[i] = yellow;
+    }

index.rst

@@ -21,6 +21,7 @@ The :ref:`joint_indexes` page explains how to handle NAO joints in detail.
 
    msgs
    joint-indexes
+   eye-led-indexes
    related-ros2-packages
 
 .. _ROS2 interface package: https://docs.ros.org/en/foxy/Tutorials/Custom-ROS2-Interfaces.html

joint-indexes.rst

@@ -3,22 +3,7 @@
 Joint Indexes
 #############
 
-The list at the bottom shows the joint indexes copied from `Joints.msg`.
-
-An example of accessing an angle for a specific joint:
-
-.. code-block:: cpp
-
-    joints.angles[nao_interfaces::msg::Joints::HEADYAW]
-
-``nao_interfaces::msg::Joints::NUM_JOINTS`` can be for iterating over all joints, as following:
-
-.. code-block:: cpp
-
-    for (unsigned i = 0; i < nao_interfaces::msg::Joints::NUMJOINTS; ++i)
-    {
-        // do something for each joint
-    }
+The following list are the joint indexes copied from ``Joints.msg``:
 
 .. code-block:: cpp
 
@@ -47,4 +32,25 @@ An example of accessing an angle for a specific joint:
     int32 RWRISTYAW=22
     int32 LHAND=23
     int32 RHAND=24
-    int32 NUMJOINTS=25
+    int32 NUMJOINTS=25
+
+Accessing a joint angle
+***********************
+
+An example of accessing an angle for a specific joint:
+
+.. code-block:: cpp
+
+    joints.angles[nao_interfaces::msg::Joints::HEADYAW]
+
+Iterating over all joints
+*************************
+
+``nao_interfaces::msg::Joints::NUM_JOINTS`` can be used for iterating over all joints, as following:
+
+.. code-block:: cpp
+
+    for (unsigned i = 0; i < nao_interfaces::msg::Joints::NUMJOINTS; ++i)
+    {
+        // do something for each joint
+    }

msgs.rst

@@ -112,29 +112,12 @@ Touch
 EyeLeds
 *******
 
-Message identifying colors for each RGB LED in the NAO's eyes.
+.. image:: images/eye_leds.png
 
-**Expect ranges for R, G and B are 0.0 - 1.0. The alpha value (A) is ignored.**
+Message identifying colors for each of the 16 RGB Leds in the NAO's eyes. **Expected range for R, G and B are 0.0 - 1.0. The alpha (A) is not used.**
 
-.. image:: images/eye_leds.png
+See :ref:`eye_led_indexes` to see which indexes correspond to which led in the eyes.
 
 .. code-block:: cpp
 
-    int32 L0=0
-    int32 L1=1
-    int32 L2=2
-    int32 L3=3
-    int32 L4=4
-    int32 L5=5
-    int32 L6=6
-    int32 L7=7
-    int32 R0=8
-    int32 R1=9
-    int32 R2=10
-    int32 R3=11
-    int32 R4=12
-    int32 R5=13
-    int32 R6=14
-    int32 R7=15
-
-    std_msgs/ColorRGBA[16] leds
+    std_msgs/ColorRGBA[16] leds  // r, g, b should be 0.0 - 1.0. a is ignored