Merge branch 'pps_project' of https://gitlab.ethz.ch/D-FaLL/D-FaLL-System into pps_project

pps_wiki/workflow_for_students.md

 # Workflow for students
 
 ### Prerequisite:
-* Make sure you are connected to the network (cable inserted andcheck if connected in the settings)
+* Make sure you are connected to the network (cable inserted and check if connected to Vicon in the settings)
 * Insert a CrazyRadio into one of your USB-ports on your Laptop
-* The Crazyflie atennas had to face the right direction upon defining the object in ViconTracker!! (antenna in positive x direction?)
+* The Crazyflie atennas had to face the right direction (antenna facing positive x-axis) upon defining the object in ViconTracker!!
 
+---
 
-REMINDER: NEED to CHANGE THE PARAM FILE THAT INCLUDES THE CUSTOM CUNTROLLER!!!!!!
---> Templates
-
-
-
-<br><br><br>
 ### Files of interest:
-Their role in the workflow is described below under Workflow.
 
 ##### -- Changeable files:
 in `pps_ws/src/d_fall_pps/src`
-* CustomControllerService.cpp
-* dsfdsf
-* sdfdsf
+* _CustomControllerService.cpp_ <br>
+The file where students can implement their own controller. It provides already the ros service with the teacher. It can be used as a template.
+
+in `pps_ws/src/d_fall_pps/param`
+* _ClientConfig.yaml_ <br>
+This file needs to be changed to define names for the custom controller. **The safeController property shouldn't be changed!** <br>
+Usage: <br>
+`customController: "SERVICENAME/TOPICNAME"` <br>
+where SERVICENAME is the name of the cpp-file that contains the custom controller (e.g. the provided template CustomControllerService) and <br>
+where TOPICNAME is the defined name for the topic which is defined insided the controller's code.
 
 ##### -- Useful files:
 in `pps_ws/src/d_fall_pps/scripts`
 --> call scripts in terminal by going to the above path and then typing ./SCRIPTNAME, e.g.: `./enable_crazyflie`
-* disable_crazyflie
-* enable_crazyflie
-* load_custom_controller
-* load_safe_controller
-* safe_controller_setpoint
+* *disable_crazyflie*
+* *enable_crazyflie*
+* *load_custom_controller*
+* *load_safe_controller*
+* *safe_controller_setpoint*
 
 
 ##### -- Files to look at:
 in `pps_ws/src/d_fall_pps/param`
-* SafeController.yaml
-in
-*
-*
+* _SafeController.yaml_ <br>
+This file contains the control parameters that the SafeControllerService uses. The SafeControllerService loads this file when it starts. You might want to use a similar approach and can try to copy some functionality from  SafeControllerService.cpp.
+
+---
+
 
-<br><br><br>
 ## Workflow:
 **Setup**
-1.  Teacher must run his part, that publishes ViconData for students
+1.  Teacher must run his part, that publishes ViconData for students and hosts the roscore.
 2.  Each student/group has a CrazyFlie
 3.  
 
@@ -50,11 +51,11 @@ in
 1.  Adjust your custom controller
 2.  Use `make CustomController.cpp` to compile your controller implementation
 3.  Start your crazyflie
-4.  dsfdsfds
+4.  Go to
 
 <br><br>
 **Troubleshooting**
-- SafeController is not working <br>
+- _SafeController is not working_ <br>
 Was the antenna of the crazyflie facing in the *opposite* direction of the defined Vicon x-axis? --> Define it again! <br>
 The crazyflie has to lie on the table when you turn it on because the gyro sensor is initialized upon start-up. <br>
 Is the crazyflie still properly showing in the ViconTracker software? --> Define it again and check that the markers don't move!