Added sphinx comment for encoder __init__ and fixed other small issues

Author: ksiegall

XRPLib/encoder.py

@@ -10,6 +10,17 @@ class Encoder:
     ticks_per_rev = _ticks_per_motor_shaft_revolution * _gear_ratio # 585
 
     def __init__(self, index, encAPin, encBPin):
+        """
+        Uses the on board PIO State Machine to keep track of encoder positions. 
+        Only 4 encoders can be instantiated this way.
+        
+        :param index: The index of the state machine to be used, indexed 0-3.
+        :type index: int
+        :param encAPin: The pin the left reflectance sensor is connected to
+        :type encAPin: int
+        :param encBPin: The pin the right reflectance sensor is connected to
+        :type encBPin: int
+        """
         if(abs(encAPin - encBPin) != 1):
             raise Exception("Encoder pins must be successive!")
         basePin = machine.Pin(min(encAPin, encBPin))

XRPLib/rangefinder.py

@@ -21,7 +21,7 @@ def __init__(self, trigger_pin:int, echo_pin:int, timeout_us:int=500*2*30):
         Timeouts will return a MAX_VALUE (65535) instead of raising an exception.
 
         :param trigger_pin: The number of the pin on the microcontroller that's connected to the ``Trig`` pin on the HC-SR04.
-        :type trig_pin: int
+        :type trigger_pin: int
         :param echo_pin: The number of the pin on the microcontroller that's connected to the ``Echo`` pin on the HC-SR04.
         :type echo_pin: int
         :param timeout_us: Max microseconds seconds to wait for a response from the sensor before assuming it isn't going to answer. By default set to 30,000 us (0.03 s)