From e8ad309831d9ab1d11034b87faada182bef7baa7 Mon Sep 17 00:00:00 2001
From: Andru Liu <90433630+WallabyLester@users.noreply.github.com>
Date: Tue, 8 Oct 2024 20:21:02 -0700
Subject: [PATCH] Adding Doxygen style comments to header file.

---
 CPP_Implementation/apid_controller.h | 58 ++++++++++++++++++++++++++--
 1 file changed, 55 insertions(+), 3 deletions(-)

diff --git a/CPP_Implementation/apid_controller.h b/CPP_Implementation/apid_controller.h
index 3bc95a6..5456ab2 100644
--- a/CPP_Implementation/apid_controller.h
+++ b/CPP_Implementation/apid_controller.h
@@ -1,24 +1,76 @@
 #ifndef APID_CONTROLLER_H
 #define APID_CONTROLLER_H
 
+/**
+ * @class aPIDController
+ * @brief Adaptive PID Controller class for control systems.
+ * 
+ * This class implements a simple adaptive PID controller that can be used
+ * to control a system by adjusting the output based on the error
+ * between a target value and a measured value.
+ */
 class aPIDController {
 public:
+    /**
+     * @brief Constructor to initialize PID gains and time step.
+     * 
+     * @param kp Proportional gain.
+     * @param ki Integral gain.
+     * @param kd Derivative gain.
+     * @param dt Time step.
+     */
     aPIDController(double kp=0.0, double ki=0.0, double kd=0.0, double dt=0.1);
 
+    /**
+     * @brief Update the PID output based on the target and measured value.
+     * 
+     * @param target The desired target value.
+     * @param measured_value The current measured value.
+     * @return The computed control output.
+     */
     double update(double target, double measured_value);
 
+    /** 
+     * @brief Set the proportional gain.
+     * @param kp The new proportional gain.
+     */
     void set_Kp(double kp) {Kp = kp;}
+
+    /** 
+     * @brief Set the integral gain.
+     * @param ki The new integral gain.
+     */
     void set_Ki(double ki) {Ki = ki;}
+
+    /** 
+     * @brief Set the derivative gain.
+     * @param kd The new derivative gain.
+     */
     void set_Kd(double kd) {Kd = kd;}
 
+    /**
+     * @brief Get the proportional gain.
+     * @return The current proportional gain.
+     */
     double get_Kp() const { return Kp; }
+
+    /**
+     * @brief Get the integral gain.
+     * @return The current integral gain.
+     */
     double get_Ki() const { return Ki; }
+
+    /**
+     * @brief Get the derivative gain.
+     * @return The current derivative gain.
+     */
     double get_Kd() const { return Kd; }
 
 private:
-    double Kp, Ki, Kd, dt;
-    double integral;  
-    double prev_err;
+    double Kp, Ki, Kd;  // PID gains
+    double dt;          // Time step
+    double integral;    // Integral term
+    double prev_err;    // Previous error
 };
 
 #endif // APID_CONTROLLER_H