Update docs

src/axidraw_controller/README.md

@@ -2,7 +2,7 @@
 
 Implements robot_controller for the Axidraw robot.
 
-`axidraw_serial.py` is used to communicate with the robot using the python API.
+`axidraw_serial.py` is used to communicate with the robot using the [python API](https://axidraw.com/doc/py_api).
 If more direct control is desired, this can be implemented by sending serial commands directly to the [EBB control board](http://evil-mad.github.io/EggBot/ebb.html) of the Axidraw.
 
 On linux systems the board appears on `/dev/ttyACM0`.

src/axidraw_controller/src/cpp/axidraw_controller.cpp

@@ -48,6 +48,7 @@ class AxidrawController : public RobotController
     path_pub = this->create_publisher<robot_interfaces::msg::Points>("axidraw_path", 10);
   }
 
+  // Return true if axidraw is ready
   bool is_ready()
   {
     auto request = std::make_shared<robot_interfaces::srv::Status::Request>();
@@ -85,6 +86,7 @@ class AxidrawController : public RobotController
     return point;
   }
 
+  // Translate all poses in a vector
   std::vector<geometry_msgs::msg::Point> translate_poses(std::vector<geometry_msgs::msg::PoseStamped> ps)
   {
     std::vector<geometry_msgs::msg::Point> points;