Config refactor

[Rishi-H]

IN PROG: firmware refactor to support new config and also a cleanup a good amount of the originally written state, controls, estimator, and sensor code.

[github-actions]

Doxygen warnings output: (if empty, there are no warnings). Please correct any warnings before merging.

  /github/workspace/src/sensors/rev_encoder.hpp:46: warning: More #endif's than #if's found.

/github/workspace/src/sensors/rev_encoder.hpp:46: warning: More #endif's than #if's found.

/github/workspace/src/comms/data/motor_state_data.hpp:1: warning: Compound MotorStateData is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:45: warning: Compound NewConfig::BuffEncoder is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:28: warning: Compound NewConfig::ConfigStart is not documented.
/github/workspace/src/comms/config_data/controller.hpp:63: warning: Compound NewConfig::Controller is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:110: warning: Compound NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/controller.hpp:39: warning: Compound NewConfig::Gains is not documented.
/github/workspace/src/comms/config_data/controller.hpp:48: warning: Compound NewConfig::GearRatios is not documented.
/github/workspace/src/comms/config_data/estimator.hpp:25: warning: Compound NewConfig::HighLevelEstimator is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:76: warning: Compound NewConfig::IcmImu is not documented.
/github/workspace/src/comms/config_data/estimator.hpp:16: warning: Compound NewConfig::LowLevelEstimator is not documented.
/github/workspace/src/comms/config_data/motor.hpp:42: warning: Compound NewConfig::Motor is not documented.
/github/workspace/src/comms/config_data/state.hpp:21: warning: Compound NewConfig::ReferenceLimit is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:38: warning: Compound NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/state.hpp:33: warning: Compound NewConfig::State is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:146: warning: Compound NewConfig::StereoCamTrigger is not documented.
/github/workspace/src/comms/config_data/controller.hpp:58: warning: Compound NewConfig::SubController is not documented.
/github/workspace/src/controls/robot_state.hpp:5: warning: Compound RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:13: warning: Compound RobotState::RawState is not documented.
/github/workspace/src/controls/estimator.cpp:32: warning: no uniquely matching class member found for 
  void GimbalEstimatorNoOdom::step_states(float output[STATE_LEN][3], float curr_state[STATE_LEN][3], int override)

/github/workspace/src/controls/estimator.cpp:234: warning: documented symbol 'ActuatorEstimator::ActuatorEstimator' was not declared or defined.
/github/workspace/src/controls/estimator.cpp:239: warning: no uniquely matching class member found for 
  void ActuatorEstimator::step_states(float output[CAN_MAX_MOTORS][MICRO_STATE_LEN], float curr_state[CAN_MAX_MOTORS][MICRO_STATE_LEN], int override)

/github/workspace/src/controls/estimator_manager.cpp:23: warning: no matching class member found for 
  void EstimatorManager::init_estimator(NewConfig::HighLevelEstimator estimator_config, const CANManager &can, const SensorManager &sensor_manager)
Possible candidates:
  'void EstimatorManager::init_estimator(const NewConfig::HighLevelEstimator &estimator_config, const CANManager &can, const SensorManager &sensor_manager)'
  'void EstimatorManager::init_estimator(const NewConfig::LowLevelEstimator &estimator_config, const CANManager &can, const SensorManager &sensor_manager)'

/github/workspace/src/controls/reference_governer.cpp:3: warning: documented symbol 'void Governor::set_raw_reference' was not declared or defined.
/github/workspace/src/sensors/AdafruitIMUSensor.cpp:4: warning: no uniquely matching class member found for 
  void IMUSensor::print()

/github/workspace/src/sensors/ICM20649.hpp:18: warning: unable to resolve reference to 'init(CommunicationProtocol)' for \ref command
/github/workspace/src/sensors/ICM20649.hpp:25: warning: @copybrief or @copydoc target 'IMUSensor::read()' not found
/github/workspace/src/sensors/buff_encoder.hpp:63: warning: Member get_name() const (function) of class BuffEncoder is not documented.
/github/workspace/src/sensors/buff_encoder.hpp:65: warning: Member get_data_for_comms() (function) of class BuffEncoder is not documented.
/github/workspace/src/sensors/can/can_manager.hpp:74: warning: Member send_to_comms() (function) of class CANManager is not documented.
/github/workspace/src/sensors/can/can_manager.hpp:63: warning: argument 'motor_info' of command @param is not found in the argument list of CANManager::configure_motor(const NewConfig::Motor &motor_config)
/github/workspace/src/sensors/can/can_manager.hpp:65: warning: The following parameter of CANManager::configure_motor(const NewConfig::Motor &motor_config) is not documented:
  parameter 'motor_config'
/github/workspace/src/sensors/can/can_manager.hpp:61: warning: parameters of member CANManager::init are not (all) documented
/github/workspace/src/controls/controller.hpp:25: warning: parameters of member Controller::Controller are not (all) documented
/github/workspace/src/controls/controller.hpp:37: warning: Member config() const (function) of struct Controller is not documented.
/github/workspace/src/controls/controller_manager.hpp:19: warning: parameters of member ControllerManager::ControllerManager are not (all) documented
/github/workspace/src/controls/controller_manager.hpp:12: warning: Member controllers (variable) of class ControllerManager is not documented.
/github/workspace/src/controls/controller_manager.hpp:21: warning: argument '_can' of command @param is not found in the argument list of ControllerManager::init(const std::vector< NewConfig::Controller > &controller_configurations)
/github/workspace/src/controls/controller_manager.hpp:21: warning: argument '_config_data' of command @param is not found in the argument list of ControllerManager::init(const std::vector< NewConfig::Controller > &controller_configurations)
/github/workspace/src/controls/controller_manager.hpp:24: warning: The following parameter of ControllerManager::init(const std::vector< NewConfig::Controller > &controller_configurations) is not documented:
  parameter 'controller_configurations'
/github/workspace/src/sensors/d200.hpp:157: warning: Member validate_port(std::optional< HardwareSerial * > port_opt) (function) of class D200LD14P is not documented.
/github/workspace/src/sensors/d200.hpp:114: warning: Member config (variable) of class D200LD14P is not documented.
/github/workspace/src/sensors/d200.hpp:160: warning: argument '_port' of command @param is not found in the argument list of D200LD14P::D200LD14P(const NewConfig::D200Lidar &config)
/github/workspace/src/sensors/d200.hpp:160: warning: argument '_id' of command @param is not found in the argument list of D200LD14P::D200LD14P(const NewConfig::D200Lidar &config)
/github/workspace/src/sensors/d200.hpp:163: warning: The following parameter of D200LD14P::D200LD14P(const NewConfig::D200Lidar &config) is not documented:
  parameter 'config'
/github/workspace/src/sensors/Transmitter.hpp:233: warning: Member send_to_comms() (function) of class Transmitter is not documented.
/github/workspace/src/controls/estimator_manager.hpp:47: warning: Member init_estimator(const NewConfig::HighLevelEstimator &estimator_config, const CANManager &can, const SensorManager &sensor_manager) (function) of class EstimatorManager is not documented.
/github/workspace/src/controls/estimator_manager.hpp:49: warning: Member init_estimator(const NewConfig::LowLevelEstimator &estimator_config, const CANManager &can, const SensorManager &sensor_manager) (function) of class EstimatorManager is not documented.
/github/workspace/src/controls/estimator_manager.hpp:18: warning: Member high_level_estimators (variable) of class EstimatorManager is not documented.
/github/workspace/src/controls/estimator_manager.hpp:19: warning: Member low_level_estimators (variable) of class EstimatorManager is not documented.
/github/workspace/src/controls/estimator_manager.hpp:28: warning: argument 'can' of command @param is not found in the argument list of EstimatorManager::init(const std::vector< NewConfig::Estimator > &estimator_configurations)
/github/workspace/src/controls/estimator_manager.hpp:28: warning: argument 'config_data' of command @param is not found in the argument list of EstimatorManager::init(const std::vector< NewConfig::Estimator > &estimator_configurations)
/github/workspace/src/controls/estimator_manager.hpp:28: warning: argument 'sensor_manager' of command @param is not found in the argument list of EstimatorManager::init(const std::vector< NewConfig::Estimator > &estimator_configurations)
/github/workspace/src/controls/estimator_manager.hpp:32: warning: The following parameter of EstimatorManager::init(const std::vector< NewConfig::Estimator > &estimator_configurations) is not documented:
  parameter 'estimator_configurations'
/github/workspace/src/sensors/Transmitter.hpp:233: warning: Member send_to_comms() (function) of class Transmitter is not documented.
/github/workspace/src/controls/controller.hpp:25: warning: parameters of member Controller::Controller are not (all) documented
/github/workspace/src/controls/controller.hpp:37: warning: Member config() const (function) of struct Controller is not documented.
/github/workspace/src/controls/controller.hpp:287: warning: Member full_state_position_controller (variable) of struct FeederController is not documented.
/github/workspace/src/controls/controller.hpp:288: warning: Member full_state_velocity_controller (variable) of struct FeederController is not documented.
/github/workspace/src/controls/controller.hpp:25: warning: parameters of member Controller::Controller are not (all) documented
/github/workspace/src/controls/controller.hpp:37: warning: Member config() const (function) of struct Controller is not documented.
/github/workspace/src/controls/controller.hpp:223: warning: Member high_level_velocity_controller (variable) of struct FlywheelController is not documented.
/github/workspace/src/controls/controller.hpp:224: warning: Member low_level_velocity_controller (variable) of struct FlywheelController is not documented.
/github/workspace/src/controls/estimator.hpp:252: warning: Member buff_enc_yaw (variable) of struct GimbalAndChassisEstimator is not documented.
/github/workspace/src/controls/estimator.hpp:253: warning: Member buff_enc_pitch (variable) of struct GimbalAndChassisEstimator is not documented.
/github/workspace/src/controls/estimator.hpp:254: warning: Member icm_imu (variable) of struct GimbalAndChassisEstimator is not documented.
/github/workspace/src/controls/estimator.hpp:256: warning: Member chassis_1 (variable) of struct GimbalAndChassisEstimator is not documented.
/github/workspace/src/controls/estimator.hpp:257: warning: Member chassis_2 (variable) of struct GimbalAndChassisEstimator is not documented.
/github/workspace/src/controls/estimator.hpp:258: warning: Member chassis_3 (variable) of struct GimbalAndChassisEstimator is not documented.
/github/workspace/src/controls/estimator.hpp:259: warning: Member chassis_4 (variable) of struct GimbalAndChassisEstimator is not documented.
/github/workspace/src/controls/estimator.hpp:265: warning: argument 'config_data' of command @param is not found in the argument list of GimbalAndChassisEstimator::GimbalAndChassisEstimator(NewConfig::Estimator, SensorManager &sensor_manager, CANManager &can)
/github/workspace/src/controls/reference_governer.hpp:14: warning: Member reference_state (variable) of class Governor is not documented.
/github/workspace/src/sensors/ICM20649.hpp:18: warning: unable to resolve reference to 'init(CommunicationProtocol)' for \ref command
/github/workspace/src/sensors/ICM20649.hpp:19: warning: parameters of member ICM20649::ICM20649 are not (all) documented
/github/workspace/src/sensors/ICM20649.hpp:25: warning: @copybrief or @copydoc target 'IMUSensor::read()' not found
/github/workspace/src/sensors/ICM20649.hpp:33: warning: Member config (variable) of class ICM20649 is not documented.
/github/workspace/src/sensors/ICM20649.hpp:25: warning: @copybrief or @copydoc target 'IMUSensor::read()' not found
/github/workspace/src/sensors/ICM20649.hpp:25: warning: @copydetails or @copydoc target 'IMUSensor::read()' not found
/github/workspace/src/sensors/ICM20649.hpp:26: warning: return type of member ICM20649::read is not documented
/github/workspace/src/sensors/LSM6DSOX.hpp:13: warning: parameters of member LSM6DSOX::LSM6DSOX are not (all) documented
/github/workspace/src/sensors/LSM6DSOX.hpp:22: warning: Member config (variable) of class LSM6DSOX is not documented.
/github/workspace/src/sensors/can/motor.hpp:31: warning: argument 'controller_type' of command @param is not found in the argument list of Motor::Motor(NewConfig::Motor motor_config)
/github/workspace/src/sensors/can/motor.hpp:31: warning: argument 'gid' of command @param is not found in the argument list of Motor::Motor(NewConfig::Motor motor_config)
/github/workspace/src/sensors/can/motor.hpp:31: warning: argument 'id' of command @param is not found in the argument list of Motor::Motor(NewConfig::Motor motor_config)
/github/workspace/src/sensors/can/motor.hpp:31: warning: argument 'bus' of command @param is not found in the argument list of Motor::Motor(NewConfig::Motor motor_config)
/github/workspace/src/sensors/can/motor.hpp:31: warning: argument 'motor_type' of command @param is not found in the argument list of Motor::Motor(NewConfig::Motor motor_config)
/github/workspace/src/sensors/can/motor.hpp:37: warning: The following parameter of Motor::Motor(NewConfig::Motor motor_config) is not documented:
  parameter 'motor_config'
/github/workspace/src/comms/data/motor_state_data.hpp:4: warning: Member torque (variable) of struct MotorStateData is not documented.
/github/workspace/src/comms/data/motor_state_data.hpp:5: warning: Member speed (variable) of struct MotorStateData is not documented.
/github/workspace/src/comms/data/motor_state_data.hpp:6: warning: Member position (variable) of struct MotorStateData is not documented.
/github/workspace/src/comms/data/motor_state_data.hpp:7: warning: Member temperature (variable) of struct MotorStateData is not documented.
/github/workspace/src/comms/data/motor_state_data.hpp:9: warning: Member motor_name (variable) of struct MotorStateData is not documented.
/github/workspace/src/controls/controller.hpp:25: warning: parameters of member Controller::Controller are not (all) documented
/github/workspace/src/controls/controller.hpp:37: warning: Member config() const (function) of struct Controller is not documented.
/github/workspace/src/filters/pid_filter.hpp:35: warning: argument 'wrap' of command @param is not found in the argument list of PIDFilter::filter(float dt, bool bound)
/github/workspace/src/controls/controller.hpp:25: warning: parameters of member Controller::Controller are not (all) documented
/github/workspace/src/controls/controller.hpp:37: warning: Member config() const (function) of struct Controller is not documented.
/github/workspace/src/controls/controller.hpp:192: warning: Member full_state_position_controller (variable) of struct PitchController is not documented.
/github/workspace/src/controls/controller.hpp:193: warning: Member full_state_velocity_controller (variable) of struct PitchController is not documented.
/github/workspace/src/sensors/RefSystem.hpp:94: warning: documented empty return type of RefSystem::send_to_comms
/github/workspace/src/sensors/rev_encoder.hpp:40: warning: Member get_data_for_comms() (function) of class RevEncoder is not documented.
/github/workspace/src/sensors/rev_encoder.hpp:10: warning: Member config (variable) of class RevEncoder is not documented.
/github/workspace/src/sensors/rev_encoder.hpp:20: warning: argument 'encoder_pin' of command @param is not found in the argument list of RevEncoder::RevEncoder(const NewConfig::RevEncoder &config)
/github/workspace/src/sensors/rev_encoder.hpp:22: warning: The following parameter of RevEncoder::RevEncoder(const NewConfig::RevEncoder &config) is not documented:
  parameter 'config'
/github/workspace/src/comms/data/rev_encoder_data.hpp:15: warning: Member encoder_name (variable) of struct RevSensorData is not documented.
/github/workspace/src/controls/robot_state.hpp:7: warning: Member StateError (enumeration) of class RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:24: warning: Member RobotState(const std::vector< NewConfig::State > &_state_configurations) (function) of class RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:26: warning: Member set_state(const RawState &new_state) (function) of class RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:27: warning: Member get_state(NewConfig::StateName state_name) const (function) of class RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:29: warning: Member set_value(float value, NewConfig::StateName state_name, NewConfig::StateOrder state_order) (function) of class RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:30: warning: Member get_value(NewConfig::StateName state_name, NewConfig::StateOrder state_order) const (function) of class RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:32: warning: Member to_comms_array(float state_data[NUM_STATES][STATE_ORDER]) const (function) of class RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:33: warning: Member from_comms_array(const float state_data[NUM_STATES][STATE_ORDER]) (function) of class RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:39: warning: Member order_enum_to_array_index(NewConfig::StateOrder state_order) (function) of class RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:36: warning: Member robot_state (variable) of class RobotState is not documented.
/github/workspace/src/controls/robot_state.hpp:17: warning: Member RawState(const NewConfig::State &_config) (function) of struct RobotState::RawState is not documented.
/github/workspace/src/controls/robot_state.hpp:19: warning: Member set_values(float new_values[STATE_ORDER]) (function) of struct RobotState::RawState is not documented.
/github/workspace/src/controls/robot_state.hpp:14: warning: Member values[STATE_ORDER] (variable) of struct RobotState::RawState is not documented.
/github/workspace/src/controls/robot_state.hpp:15: warning: Member config (variable) of struct RobotState::RawState is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:36: warning: parameters of member SensorManager::init are not (all) documented
/github/workspace/src/sensors/sensor_manager.hpp:38: warning: Member configure_sensors(const NewConfig::RobotConfig &config_data) (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:40: warning: Member initialize_sensors() (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:45: warning: Member send_to_comms() (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:47: warning: Member get_buff_encoder_by_name(NewConfig::BuffEncoderName name) (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:48: warning: Member get_rev_encoder_by_name(NewConfig::RevEncoderName name) (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:49: warning: Member get_icm_sensor_by_name(NewConfig::ImuName name) (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:50: warning: Member get_lsm_sensor_by_name(NewConfig::ImuName name) (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:51: warning: Member get_lidar_sensor_by_name(NewConfig::D200LidarName name) (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:52: warning: Member get_limit_switch_by_name(NewConfig::LimitSwitchName name) (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:53: warning: Member get_current_sensor_by_name(NewConfig::CurrentSensorName name) (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:54: warning: Member get_tof_sensor_by_name(NewConfig::TOFSensorName name) (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:55: warning: Member get_stereo_cam_trigger_by_name(NewConfig::StereoCameraTriggerName name) (function) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:77: warning: Member buff_encoders (variable) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:78: warning: Member rev_encoders (variable) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:79: warning: Member icm_imus (variable) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:80: warning: Member lsm_imus (variable) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:81: warning: Member d200_lidars (variable) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:82: warning: Member limit_switches (variable) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:83: warning: Member acs712_current_sensors (variable) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:84: warning: Member tof_sensors (variable) of class SensorManager is not documented.
/github/workspace/src/sensors/sensor_manager.hpp:85: warning: Member stereo_cam_triggers (variable) of class SensorManager is not documented.
/github/workspace/src/sensors/StereoCamTrigger.hpp:13: warning: Member config (variable) of class StereoCamTrigger is not documented.
/github/workspace/src/sensors/StereoCamTrigger.hpp:30: warning: argument '_fps' of command @param is not found in the argument list of StereoCamTrigger::StereoCamTrigger(const NewConfig::StereoCamTriggerConfig &config)
/github/workspace/src/sensors/StereoCamTrigger.hpp:32: warning: The following parameter of StereoCamTrigger::StereoCamTrigger(const NewConfig::StereoCamTriggerConfig &config) is not documented:
  parameter 'config'
/github/workspace/src/sensors/Transmitter.hpp:233: warning: Member send_to_comms() (function) of class Transmitter is not documented.
/github/workspace/src/controls/controller.hpp:25: warning: parameters of member Controller::Controller are not (all) documented
/github/workspace/src/controls/controller.hpp:37: warning: Member config() const (function) of struct Controller is not documented.
/github/workspace/src/controls/controller.hpp:55: warning: Member xy_position_controller (variable) of struct XDrivePositionController is not documented.
/github/workspace/src/controls/controller.hpp:56: warning: Member xy_velocity_controller (variable) of struct XDrivePositionController is not documented.
/github/workspace/src/controls/controller.hpp:57: warning: Member chassis_angle_controller (variable) of struct XDrivePositionController is not documented.
/github/workspace/src/controls/controller.hpp:58: warning: Member chassis_angular_velocity_controller (variable) of struct XDrivePositionController is not documented.
/github/workspace/src/controls/controller.hpp:59: warning: Member low_level_velocity_controller (variable) of struct XDrivePositionController is not documented.
/github/workspace/src/controls/controller.hpp:60: warning: Member power_buffer_controller (variable) of struct XDrivePositionController is not documented.
/github/workspace/src/controls/controller.hpp:75: warning: Member chassis_motor_1 (variable) of struct XDrivePositionController is not documented.
/github/workspace/src/controls/controller.hpp:76: warning: Member chassis_motor_2 (variable) of struct XDrivePositionController is not documented.
/github/workspace/src/controls/controller.hpp:77: warning: Member chassis_motor_3 (variable) of struct XDrivePositionController is not documented.
/github/workspace/src/controls/controller.hpp:78: warning: Member chassis_motor_4 (variable) of struct XDrivePositionController is not documented.
/github/workspace/src/controls/controller.hpp:25: warning: parameters of member Controller::Controller are not (all) documented
/github/workspace/src/controls/controller.hpp:37: warning: Member config() const (function) of struct Controller is not documented.
/github/workspace/src/controls/controller.hpp:111: warning: Member xy_velocity_controller (variable) of struct XDriveVelocityController is not documented.
/github/workspace/src/controls/controller.hpp:112: warning: Member chassis_angle_controller (variable) of struct XDriveVelocityController is not documented.
/github/workspace/src/controls/controller.hpp:113: warning: Member chassis_angular_velocity_controller (variable) of struct XDriveVelocityController is not documented.
/github/workspace/src/controls/controller.hpp:114: warning: Member low_level_velocity_controller (variable) of struct XDriveVelocityController is not documented.
/github/workspace/src/controls/controller.hpp:115: warning: Member power_buffer_controller (variable) of struct XDriveVelocityController is not documented.
/github/workspace/src/controls/controller.hpp:25: warning: parameters of member Controller::Controller are not (all) documented
/github/workspace/src/controls/controller.hpp:37: warning: Member config() const (function) of struct Controller is not documented.
/github/workspace/src/controls/controller.hpp:159: warning: Member full_state_position_controller (variable) of struct YawController is not documented.
/github/workspace/src/controls/controller.hpp:160: warning: Member full_state_velocity_controller (variable) of struct YawController is not documented.
/github/workspace/src/comms/comms_layer.hpp:87: warning: Member configure() (function) of class Comms::CommsLayer is not documented.
/github/workspace/src/comms/data/hive_data.hpp:35: warning: Member config (variable) of struct Comms::HiveData is not documented.
/github/workspace/src/comms/config_data/controller.hpp:40: warning: Member p (variable) of struct NewConfig::Gains is not documented.
/github/workspace/src/comms/config_data/controller.hpp:41: warning: Member i (variable) of struct NewConfig::Gains is not documented.
/github/workspace/src/comms/config_data/controller.hpp:42: warning: Member d (variable) of struct NewConfig::Gains is not documented.
/github/workspace/src/comms/config_data/controller.hpp:43: warning: Member f (variable) of struct NewConfig::Gains is not documented.
/github/workspace/src/comms/config_data/controller.hpp:44: warning: Member power_buffer_threshold (variable) of struct NewConfig::Gains is not documented.
/github/workspace/src/comms/config_data/controller.hpp:45: warning: Member power_buffer_critical_threshold (variable) of struct NewConfig::Gains is not documented.
/github/workspace/src/comms/config_data/controller.hpp:49: warning: Member chassis_x_to_motor_rad (variable) of struct NewConfig::GearRatios is not documented.
/github/workspace/src/comms/config_data/controller.hpp:50: warning: Member chassis_y_to_motor_rad (variable) of struct NewConfig::GearRatios is not documented.
/github/workspace/src/comms/config_data/controller.hpp:51: warning: Member chassis_rad_to_motor_rad (variable) of struct NewConfig::GearRatios is not documented.
/github/workspace/src/comms/config_data/controller.hpp:52: warning: Member motor1_direction (variable) of struct NewConfig::GearRatios is not documented.
/github/workspace/src/comms/config_data/controller.hpp:53: warning: Member motor2_direction (variable) of struct NewConfig::GearRatios is not documented.
/github/workspace/src/comms/config_data/controller.hpp:54: warning: Member ball_to_flywheel_rad (variable) of struct NewConfig::GearRatios is not documented.
/github/workspace/src/comms/config_data/controller.hpp:55: warning: Member feeder_direction (variable) of struct NewConfig::GearRatios is not documented.
/github/workspace/src/comms/config_data/controller.hpp:59: warning: Member gains (variable) of struct NewConfig::SubController is not documented.
/github/workspace/src/comms/config_data/controller.hpp:60: warning: Member sub_controller_type (variable) of struct NewConfig::SubController is not documented.
/github/workspace/src/comms/config_data/controller.hpp:64: warning: Member motor_indices[CONTROLLER_MOTORS_SIZE] (variable) of struct NewConfig::Controller is not documented.
/github/workspace/src/comms/config_data/controller.hpp:65: warning: Member sub_controllers[CONTROLLER_SUB_CONTROLLERS_SIZE] (variable) of struct NewConfig::Controller is not documented.
/github/workspace/src/comms/config_data/controller.hpp:66: warning: Member gear_ratios (variable) of struct NewConfig::Controller is not documented.
/github/workspace/src/comms/config_data/controller.hpp:67: warning: Member controller_type (variable) of struct NewConfig::Controller is not documented.
/github/workspace/src/comms/config_data/estimator.hpp:17: warning: Member estimated_states (variable) of struct NewConfig::LowLevelEstimator is not documented.
/github/workspace/src/comms/config_data/estimator.hpp:18: warning: Member estimator_name (variable) of struct NewConfig::LowLevelEstimator is not documented.
/github/workspace/src/comms/config_data/estimator.hpp:26: warning: Member estimated_states (variable) of struct NewConfig::HighLevelEstimator is not documented.
/github/workspace/src/comms/config_data/estimator.hpp:27: warning: Member estimator_name (variable) of struct NewConfig::HighLevelEstimator is not documented.
/github/workspace/src/comms/config_data/motor.hpp:43: warning: Member motor_controller_type (variable) of struct NewConfig::Motor is not documented.
/github/workspace/src/comms/config_data/motor.hpp:44: warning: Member physical_bus (variable) of struct NewConfig::Motor is not documented.
/github/workspace/src/comms/config_data/motor.hpp:45: warning: Member physical_id (variable) of struct NewConfig::Motor is not documented.
/github/workspace/src/comms/config_data/motor.hpp:46: warning: Member motor_type (variable) of struct NewConfig::Motor is not documented.
/github/workspace/src/comms/config_data/motor.hpp:47: warning: Member motor_name (variable) of struct NewConfig::Motor is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:29: warning: Member robot (variable) of struct NewConfig::ConfigStart is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:30: warning: Member num_config_sections (variable) of struct NewConfig::ConfigStart is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:51: warning: Member is_configured() const (function) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:39: warning: Member config_start (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:40: warning: Member controllers (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:41: warning: Member buff_encoders (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:42: warning: Member icm_imus (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:43: warning: Member d200_lidars (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:44: warning: Member realsense_cameras (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:45: warning: Member low_level_estimators (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:46: warning: Member high_level_estimators (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:47: warning: Member states (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:48: warning: Member motors (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/robot_config.hpp:49: warning: Member num_sections_received (variable) of struct NewConfig::RobotConfig is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:46: warning: Member communication_protocol (variable) of struct NewConfig::BuffEncoder is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:47: warning: Member pins (variable) of struct NewConfig::BuffEncoder is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:49: warning: Member encoder_offset (variable) of struct NewConfig::BuffEncoder is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:50: warning: Member feeder_direction (variable) of struct NewConfig::BuffEncoder is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:51: warning: Member feeder_ratio (variable) of struct NewConfig::BuffEncoder is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:52: warning: Member encoder_name (variable) of struct NewConfig::BuffEncoder is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:77: warning: Member communication_protocol (variable) of struct NewConfig::IcmImu is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:78: warning: Member pins (variable) of struct NewConfig::IcmImu is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:80: warning: Member pitch_angle_at_yaw_calibration (variable) of struct NewConfig::IcmImu is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:81: warning: Member yaw_start_angle (variable) of struct NewConfig::IcmImu is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:82: warning: Member pitch_start_angle (variable) of struct NewConfig::IcmImu is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:83: warning: Member roll_start_angle (variable) of struct NewConfig::IcmImu is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:84: warning: Member yaw_axis_vector[3] (variable) of struct NewConfig::IcmImu is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:85: warning: Member pitch_axis_vector[3] (variable) of struct NewConfig::IcmImu is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:86: warning: Member imu_name (variable) of struct NewConfig::IcmImu is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:111: warning: Member x_offset (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:112: warning: Member y_offset (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:113: warning: Member yaw_offset (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:114: warning: Member valid_region_start (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:115: warning: Member valid_region_end (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:116: warning: Member dead_zone_start (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:117: warning: Member dead_zone_end (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:118: warning: Member dead_zone_check_range (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:119: warning: Member lidar_name (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:121: warning: Member communication_protocol (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:122: warning: Member pins (variable) of struct NewConfig::D200Lidar is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:147: warning: Member communication_protocol (variable) of struct NewConfig::StereoCamTrigger is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:148: warning: Member pins (variable) of struct NewConfig::StereoCamTrigger is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:150: warning: Member fps (variable) of struct NewConfig::StereoCamTrigger is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:151: warning: Member trigger_pulse_width (variable) of struct NewConfig::StereoCamTrigger is not documented.
/github/workspace/src/comms/config_data/sensor.hpp:152: warning: Member trigger_name (variable) of struct NewConfig::StereoCamTrigger is not documented.
/github/workspace/src/comms/config_data/state.hpp:22: warning: Member min (variable) of struct NewConfig::ReferenceLimit is not documented.
/github/workspace/src/comms/config_data/state.hpp:23: warning: Member max (variable) of struct NewConfig::ReferenceLimit is not documented.
/github/workspace/src/comms/config_data/state.hpp:34: warning: Member reference_limit (variable) of struct NewConfig::State is not documented.
/github/workspace/src/comms/config_data/state.hpp:35: warning: Member governor_type (variable) of struct NewConfig::State is not documented.
/github/workspace/src/comms/config_data/state.hpp:36: warning: Member name (variable) of struct NewConfig::State is not documented.
/github/workspace/src/comms/config_data/state.hpp:37: warning: Member array_index (variable) of struct NewConfig::State is not documented.
/github/workspace/src/comms/config_data/state.hpp:38: warning: Member is_wrapping (variable) of struct NewConfig::State is not documented.