added comments again

QLearning/src/StateAndReward.java

@@ -12,6 +12,7 @@ public class StateAndReward {
 		//State 3 is veering right
 		//State 1,2 is quite good as it is within Pi/8 angle from normal
 		//state = String.valueOf(angle);
+		//concate _S to make the state more readable in terminal
 		return state.concat("_S");
 	}
 
@@ -24,7 +25,7 @@ public class StateAndReward {
 		int state = discretize(angle, 4, -3.14/8,3.14/8);
 
 		//if state is 1 or 2, reward with positives
-		//else -5
+		//else penalize
 		switch(state) {
 		case 1:
 		case 2:
@@ -48,7 +49,10 @@ public class StateAndReward {
 		String state = "OneStateToRuleThemAll2";
 		String angle_state = String.valueOf(discretize(angle, 5, -3.14/8,3.14/8));
 		String vy_state = String.valueOf(discretize(vy, 5, -1,1)) ;
+		//add extra emphasis on value of vy being very close to 0
+		//but do not penalize if it cannot reach such value
 		String vy_state_acc = String.valueOf(discretize(vy, 3, -0.1,0.1));
+		//small emphasis on vx because having the angle be upright already compensate for vx
 		String vx_state = String.valueOf(discretize(vx, 3, -0.5,0.5));
 		state = angle_state +"_"+ vy_state +"_" + vy_state_acc + "_"+ vx_state;
 		return state;
@@ -57,12 +61,12 @@ public class StateAndReward {
 	/* Reward function for the full hover controller */
 	public static double getRewardHover(double angle, double vx, double vy) {
 
-		/* TODO: IMPLEMENT THIS FUNCTION */
-
 		double reward = 0;
 		String state = getStateHover(angle, vx, vy);
+		//Separate state to its component
 		String[] state_str = state.split("_");
 		int [] state_int = new int[state_str.length];
+		//Cast the strings to int for each comparison
 		for (int i = 0; i< state_int.length; i++){
 			state_int[i] = Integer.valueOf(state_str[i]);
 		}