From 363148bc9646b2599e790bf2e467a2d6c970025b Mon Sep 17 00:00:00 2001
From: Gabryel Reyes <gabryel.reyes@newtec.de>
Date: Fri, 18 Oct 2024 10:53:42 +0200
Subject: [PATCH] Fixed review findings

---
 doc/architecture/README.md            |  1 -
 lib/Service/src/DifferentialDrive.cpp | 15 ++++++++-------
 lib/Service/src/Util.h                |  8 ++++----
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/doc/architecture/README.md b/doc/architecture/README.md
index bc74727..5e304d5 100644
--- a/doc/architecture/README.md
+++ b/doc/architecture/README.md
@@ -87,7 +87,6 @@ Linear speed right\
 $v_R [\frac{steps}{s}] = \frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$
 
 Consider robot linear speed center\
-
 Linear speed left\
 $v_L [\frac{steps}{s}] = \frac{v_{Linear}}{2} [\frac{steps}{s}] -\frac{w_r [\frac{rad}{s}] \cdot W [mm]}{2} \cdot \frac{ENC [\frac{steps}{m}]}{1000}$
 
diff --git a/lib/Service/src/DifferentialDrive.cpp b/lib/Service/src/DifferentialDrive.cpp
index 2ce2c07..84861e3 100644
--- a/lib/Service/src/DifferentialDrive.cpp
+++ b/lib/Service/src/DifferentialDrive.cpp
@@ -245,13 +245,14 @@ DifferentialDrive::DifferentialDrive() :
 void DifferentialDrive::calculateLinearSpeedLeftRight(int16_t linearSpeedCenter, int16_t angularSpeed,
                                                       int16_t& linearSpeedLeft, int16_t& linearSpeedRight)
 {
-    int32_t linearSpeedCenter32     = static_cast<int32_t>(linearSpeedCenter);                   /* [steps/s] */
-    int32_t halfLinearSpeedCenter32 = linearSpeedCenter32 / 2;                                   /* [steps/s] */
-    int32_t angularSpeed32          = static_cast<int32_t>(angularSpeed);                        /* [mrad/s] */
-    int32_t wheelBase32             = static_cast<int32_t>(RobotConstants::WHEEL_BASE);          /* [mm] */
-    int32_t encoderStepsPerM32      = static_cast<int32_t>(RobotConstants::ENCODER_STEPS_PER_M); /* [steps/m] */
-    int32_t linearSpeedTurnInPlace32 =
-        (angularSpeed32 * wheelBase32 * encoderStepsPerM32) / static_cast<int32_t>(2000000); /* [steps/s] */
+    static const int32_t ANGULAR_TO_LINEAR_SPEED_FACTOR = 2000000;                                 /* 2 * 1000 mrad */
+    int32_t              linearSpeedCenter32            = static_cast<int32_t>(linearSpeedCenter); /* [steps/s] */
+    int32_t              halfLinearSpeedCenter32        = linearSpeedCenter32 / 2;                 /* [steps/s] */
+    int32_t              angularSpeed32                 = static_cast<int32_t>(angularSpeed);      /* [mrad/s] */
+    int32_t              wheelBase32                    = static_cast<int32_t>(RobotConstants::WHEEL_BASE); /* [mm] */
+    int32_t              encoderStepsPerM32 = static_cast<int32_t>(RobotConstants::ENCODER_STEPS_PER_M); /* [steps/m] */
+    int32_t              linearSpeedTurnInPlace32 = (angularSpeed32 * wheelBase32 * encoderStepsPerM32) /
+                                       static_cast<int32_t>(ANGULAR_TO_LINEAR_SPEED_FACTOR); /* [steps/s] */
 
     linearSpeedLeft  = halfLinearSpeedCenter32 - linearSpeedTurnInPlace32; /* [steps/s] */
     linearSpeedRight = halfLinearSpeedCenter32 + linearSpeedTurnInPlace32; /* [steps/s] */
diff --git a/lib/Service/src/Util.h b/lib/Service/src/Util.h
index 566a3e5..179b717 100644
--- a/lib/Service/src/Util.h
+++ b/lib/Service/src/Util.h
@@ -118,9 +118,9 @@ namespace Util
     /**
      * Convert a speed in encoder steps per second to a speed in mm/s.
      *
-     * @param[in]   speedStepsPerSec Speed in encoder steps per second
+     * @param[in]   speedStepsPerSec Speed in encoder steps per second.
      *
-     * @return Speed in mm/s
+     * @return Speed in mm/s.
      */
     inline int32_t stepsPerSecondToMillimetersPerSecond(int16_t speedStepsPerSec)
     {
@@ -131,9 +131,9 @@ namespace Util
     /**
      * Convert a speed in mm/s to a speed in encoder steps per second.
      *
-     * @param[in]   speedMmPerSec Speed in mm/s
+     * @param[in]   speedMmPerSec Speed in mm/s.
      *
-     * @return Speed in encoder steps per second
+     * @return Speed in encoder steps per second.
      */
     inline int16_t millimetersPerSecondToStepsPerSecond(int32_t speedMmPerSec)
     {