AKM Development Platform

Diff: AP1017.h

Revision:

2:8a644b1066c4

Parent:

1:4d4c77589134

Child:

3:f8e70f639ed0

--- a/AP1017.h	Mon Apr 17 19:08:36 2017 +0000
+++ b/AP1017.h	Mon Apr 17 19:17:25 2017 +0000
@@ -10,34 +10,24 @@
 
 /**
  * This is a device driver for the AP1017 with pulse width modulation.
- *
- * @note AP1017 is a 12V Single Channel H-Bridge Motor Driver IC manufactured by AKM.
- *
- * Example:
- * @code
- * #include "mbed.h"
- * #include "AP1017.h"
- *
- * int main() {
- *      AP1017 motorA;
- *
- * }
- * @endcode
  */
 class AP1017
 {
 public:
 
-    /** Default constructor creates motors with PWM initial duty cycle of 0%.
-      * Motor EN pin connected to D2, INA connected to D0, INB connected to D1.
-      */
+    /**
+     * Default constructor creates motors with PWM initial duty cycle of 0%.
+     * Motor EN pin connected to D2, INA connected to D0, INB connected to D1.
+     */
     AP1017(void);
 
-    /** Disables PWM for the motors.
+    /** 
+     * Disables PWM for the motors.
      */
      ~AP1017(void);
 
-    /** Return status enumeration for debugging.
+    /**
+     * Return status enumeration for debugging.
      */
     typedef enum {
         SUCCESS = 0x00,             /**< Successful termination */
@@ -49,7 +39,8 @@
         ERROR_MOTORON = 0x06        /**< Direction switched while motor on */
     } Status;
 
-    /** Motor directions.
+    /**
+     * Motor directions.
      */
     typedef enum {
         DIRECTION_CW = 0x00,        /**< Clockwise motor rotation */
@@ -62,62 +53,80 @@
     float       getDutyCycle(void);
     Rotation    getDirection(void);
 
-    /** Sets the direction to clockwise, counterclockwise, brake or coast.
-     *  Changing between clockwise and counterclockwise may only be performed
-     *  when motor is off.
+    /**
+     * Sets the direction to clockwise, counterclockwise, brake or coast.
+     * Changing between clockwise and counterclockwise may only be performed
+     * when motor is off.
      *
-     *  @param dir Rotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST,
+     * @param dir Rotation type: DIRECTION_CW, DIRECTION_CCW, DIRECTION_COAST,
      *             or DIRECTION_BRAKE
-     *  @return Returns successful termination, ERROR_MOTORON for invalid
+     * @return Returns successful termination, ERROR_MOTORON for invalid
      *          direction switching, or ERROR_DIRECTION for invalid direction.
      */
     Status  setDirection(char dir);
 
-    /** Sets the duty cycle in percentage. Also sets the pulse width in
-     *  microseconds by calculation using current value of the period.
+    /**
+     * Sets the duty cycle in percentage. Also sets the pulse width in
+     * microseconds by calculation using current value of the period.
      *
-     *  @param dc Duty cycle as a proportion (0.0 to 1.0).
-     *  @return Returns successful termination or dutyc cyle error.
+     * @param dc Duty cycle as a proportion (0.0 to 1.0).
+     * @return Returns successful termination or dutyc cyle error.
      */
     Status  setDutyCycle(float dc);
 
-    /** Sets the frequency of the motor in Hertz.
-     *  @param f Frequency (Hertz).
-     *  @return Returns successful termination or frequency error.
+    /**
+     * Sets the frequency of the motor in Hertz.
+     * 
+     * @param f Frequency (Hertz).
+     * @return Returns successful termination or frequency error.
      */
     Status  setFrequency(float freq);
 
-    /** Sets the period in microseconds.  Also sets the pulse width by
-     *  calculation with the current value of the duty cycle.  Period will be
-     *  changed even if motor is currently running.
+    /**
+     * Sets the period in microseconds.  Also sets the pulse width by
+     * calculation with the current value of the duty cycle.  Period will be
+     * changed even if motor is currently running.
      *
-     *  @param per PWM Period in microseconds.
-     *  @return Returns successful termination or period error.
+     * @param per PWM Period in microseconds.
+     * @return Returns successful termination or period error.
      */
     Status  setPeriod_us(float per);
 
-    /** Sets the pulse with in microseconds.  Also sets the duty cycle by
-     *  calculation with the current value of the period.  Pulse width will be
-     *  changed even if motor is currently running.
+    /**
+     * Sets the pulse with in microseconds.  Also sets the duty cycle by
+     * calculation with the current value of the period.  Pulse width will be
+     * changed even if motor is currently running.
      *
-     *  @param pw Pulse width in microseconds.
-     *  @return Returns successful termination or pulse width error.
+     * @param pw Pulse width in microseconds.
+     * @return Returns successful termination or pulse width error.
      */
     Status  setPulseWidth_us(float pw);
 
-    /** Engages the motor.
+    /**
+     * Engages the motor.
+     *
+     * @return Returns successful termination or pulse width error.
      */
     Status  startMotor(void);
 
-    /** Stops forced rotation of the motor.
+    /**
+     * Stops forced rotation of the motor.
+     *
+     * @return Returns successful termination or pulse width error.
      */
     Status  stopMotor(void);
 
-    /** Applies forced braking of motor.
+    /**
+     * Applies forced braking of motor.
+     *
+     * @return Returns successful termination or pulse width error.
      */
     Status  brakeMotor(void);
 
     /**
+     * Removes force from the motor and allows it to spin freely.
+     *
+     * @return Returns successful termination or pulse width error.
      */
     Status  coastMotor(void);