Made comments easier to follow, tidied up stuff

Added more comments to sections that may have been a little confusing.  Removed some unneded stuff.

car_controller/car_controller.ino

@@ -7,9 +7,10 @@ const boolean debug = true; //Turn this OFF if you don't want debug messages.
 const boolean inputsOut = true; //Turn this OFF if you don't want the inputs to be sent via uart.
 const boolean voltageOut = false; //Turn this ON if you want votlage messages.
 const int dirInitial = true; // Set the initial direction; forwards/backwards depends on setup
-const int modeThreshold = 1200;
-const int killThreshold = 1600;
-const int noSignalThreshold = 500;
+const int modeThreshold = 1200;  //Less than this value will result in manual mode
+const int killThreshold = 1600;  //Between modeThreshold and this will kill outputs
+                                 //Above killThreshold will result in autonomous mode
+const int noSignalThreshold = 500; //
 
 //Define pin numbers
 const int inSteer = 2; // Pin connected to steering output on R/C receiver
@@ -27,74 +28,79 @@ boolean mode;
 float voltage;
 int rxSteer;
 int rxMotor;
-int rxMode = 0;
+int rxMode = 0; //Start in manual mode
 
+//This function is called everytime the code wants the car to zero throttle and steering
+//Change the values to suit your needs
 void straightAndStop() {
   throttle.write(90);
   steering.write(90);
 }
 
 void setup() {
-  Serial.begin(57600); //Start the serial port at 57600 baud
-  if (debug) Serial.println("Ready to receive commands...\n");
+  Serial.begin(57600);  //Start serial @ 57600 baud
 
   //Set the correct pin modes
-  pinMode(ledPin, OUTPUT); //set the LED as an output
+  pinMode(ledPin, OUTPUT);
   pinMode(motorPin, OUTPUT);
-  pinMode(voltSensePin, INPUT); //voltage sensing pin
+  pinMode(voltSensePin, INPUT);
   pinMode(inMode, INPUT);
   pinMode(inMotor, INPUT);
   pinMode(inSteer, INPUT);
 
+  //Setup our servos
   steering.attach(steerPin);
   throttle.attach(motorPin);
 
+  //Begin with zero motor/steering
   straightAndStop();
+  if (debug) Serial.println("Ready to receive commands...\n");
   delay(1000);
 }
 
 void loop() {
   rxMode = pulseIn(inMode, HIGH, 20000); // Read the mode output on R/C receiver
-  delay(10);
+  delay(10); //Without this (intentional blocking) delay the arduino won't read the next pulseIn properly
 
-  if (voltageOut) {
-    voltage = map(analogRead(voltSensePin), 0, 1023, 0, 480);
-    voltage = voltage / 100;
-    Serial.print("voltage,");
+  if (voltageOut) { //If we're reporting a voltage
+    voltage = map(analogRead(voltSensePin), 0, 1023, 0, 480); //Read and map it
+    voltage = voltage / 100; //Scale it
+    Serial.print("voltage,"); //Print it
     Serial.println(voltage, 3);
   }
 
-  LEDstatus = !LEDstatus; //Flip the status for next time this runs
-  digitalWrite(ledPin, LEDstatus); //turn the LED on or off
+  LEDstatus = !LEDstatus; //Flip the status for next time this runs and write it
+  digitalWrite(ledPin, LEDstatus);
 
 
-  if (rxMode > killThreshold) {
+  if (rxMode > killThreshold) {  //If we hit the I done goofed switch zero motor/steering
     straightAndStop();
-    Serial.println("error");
+    Serial.println("error");  //This means if recording data with suiron it will pause
+                              //Makes sure you don't get a heap of "bad" data
 
   }
 
   else if ((rxMode < modeThreshold) && (rxMode > 900)) {  //Manual mode
-    if (mode == true) { // If we just came from auto control
-      straightAndStop(); // Set the motor power to zero and straighten wheels
+    if (mode == true) { // If we just came from auto control,  zero motor/steering
+      straightAndStop();
       Serial.println("Entered manual control mode.");
       mode = false; // Now we're in manual mode
     }
-    int rxSteerRaw = pulseIn(inSteer, HIGH, 20000);
-    delay(10);
+    int rxSteerRaw = pulseIn(inSteer, HIGH, 20000);  //Read our steering/motor values
+    delay(10); //Without this (intentional blocking) delay the arduino won't read the second pulseIn properly
     int rxMotorRaw = pulseIn(inMotor, HIGH, 20000);
     rxSteer = map(rxSteerRaw, 1000, 2000, 40, 150); // Read the steering output on R/C receiver
     rxMotor = map(rxMotorRaw, 1000, 2000, 40, 150); // Read the motor output on R/C receiver
 
-    if (inputsOut) {
-      while (Serial.available() > 0) {
+    if (inputsOut) { //If we're outputting control values
+      while (Serial.available() > 0) {  //Everytime we get a character via serial read it then send values
         Serial.read();
         Serial.print(rxSteer);
         Serial.print(",");
         Serial.println(rxMotor);
       }
 
-      if (debug) {
+      if (debug) {  //If we're debugging print the raw inputs (before scaling/mapping)
         Serial.print("rawRxMotor,");
         Serial.println(rxMotorRaw);
         Serial.print("rawRxSteer,");
@@ -103,7 +109,7 @@ void loop() {
       }
     }
 
-    throttle.write(rxMotor);
+    throttle.write(rxMotor);  //Set the motor and steering values
     steering.write(rxSteer);
   }
 
@@ -117,23 +123,21 @@ void loop() {
 
     while (Serial.available() > 0) { //If there is something in the serial buffer waiting to be read
 
-      command = Serial.readStringUntil(',');
-      //Serial.read(); //skip the comma
-      value = Serial.readStringUntil('\n');
+      command = Serial.readStringUntil(','); //Read all of the command
+      value = Serial.readStringUntil('\n'); //Read all of the value to set
       Serial.read(); //skip the new line
 
-      if (debug == true) Serial.println("Set the " + command + " to " + value);
-
+      if (debug == true) Serial.println("Set the " + command + " to " + value);  //If debugging, print out commands
 
-      if (command == "steer") {
+      if (command == "steer") {  //If we get a steering command then set the steering to it
         steering.write(value.toInt());
       }
 
-      else if (command == "motor") {
+      else if (command == "motor") {  //If we get a motor command then set the motor to it
         throttle.write(value.toInt());
       }
 
-      else {
+      else {  //If it was any other command we weren't expecting it
         if (debug == true) Serial.println("Someone done goofed... (you sent something you weren't meant to!)");
       }
     }