From 8e864c7b39f9b9df141471e573d3fff61a651323 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 12 Mar 2021 08:43:38 +0100
Subject: [PATCH] Updated the documentation.

---
 doc/actuators.md | 16 ++++++++++++++--
 doc/batteries.md |  2 +-
 2 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/doc/actuators.md b/doc/actuators.md
index ddd342c..cfee11a 100644
--- a/doc/actuators.md
+++ b/doc/actuators.md
@@ -17,13 +17,25 @@ The main features of this driver are:
 
 The [hardware manual](https://drive.google.com/drive/folders/1OxAIbyjF__c_3nsVdmDuN2BNE6a4JI3r) of the model car, in chapter 3, presents the procedure to calibrate and adjust both speed and steering controllers. The factory calibration should be enough, and, in general, it is only necessary to adjust the zero of both the speed and steering controllers using the two potentiometers located on the PCB.
 
+To calibrate both the speed and steering angle, follow the next steps:
+* launch the example application with a 0 speed and steering angle commands:
+
+```
+./bin/model_car_actuators_test 0 0
+```
+
+* Turn the potentiometer labeled *Poti_Steer* left or right until the front wheels are straight as possible.
+* Turn the potentiometer labeled *Poli_Speed* left or right until the 
+
 ## Example
 
-This driver provides a simple example that sends both speed and steering commands following a sinusoidal function. To test it, make sure the wheels of the model car are not in contact with the floor and execute the following command:
+This driver provides a simple example that sends both speed and steering commands. To test it, make sure the wheels of the model car are not in contact with the floor and execute the following command:
 
 ```
-./bin/model_car_actuators_test
+./bin/model_car_actuators_test <speed> <steering>
 ```
+where speed is the desired speed between -100 and 100 (corresponding to the minimum and maximum speed values) and steering is the desired steering angle also between -100 and 100 (corresponding to the minimum and maximum steering angle values).
+
 
 ## Troubleshooting
 
diff --git a/doc/batteries.md b/doc/batteries.md
index d4c1f0a..620cfb2 100644
--- a/doc/batteries.md
+++ b/doc/batteries.md
@@ -7,7 +7,7 @@ This driver provides information on the state of the two batteries of the model
 
 The information provided for each battery is the individual cell voltages and the whole battery voltage. It does not provide any fuel-gauging capabilities that estimates the actual state of charge of the batteries.
 
-In addition of the software monitoring of the batteries provided by this driver, it is very important to connect both batteries to the onboard display monitoring modules which will provide an acoustic signal when it is necessary to charge the batteries. 
+In addition of the software monitoring of the batteries provided by this driver, it is very important to connect both batteries to the onboard display monitoring modules which will provide an acoustic signal when it is necessary to charge the batteries.
 
 # Example
 
-- 
GitLab