Diff: Odometry/Odometry.h

Revision:

2:7cb27dbf1b5b

Parent:

1:c8dc3dee3b70

--- a/Odometry/Odometry.h	Sun Sep 28 20:02:02 2014 +0000
+++ b/Odometry/Odometry.h	Fri Oct 03 13:32:46 2014 +0000
@@ -16,6 +16,21 @@
 class Odometry
 {
     public:
+        /**
+         * Constructor.
+         *
+         * 
+         *
+         * @param qei_left mbed pin for channel A input.
+         * @param qei_right mbed pin for channel B input.
+         * @param radius_left    mbed pin for optional index channel input,
+         *                 (pass NC if not needed).
+         * @param radius_right Number of pulses in one revolution.
+         * @param v The encoding to use. Uses X2 encoding by default. X2
+         *                 encoding uses interrupts on the rising and falling edges
+         *                 of only channel A where as X4 uses them on both
+         *                 channels.
+         */
         Odometry(QEI *qei_left, QEI *qei_right, float radius_left, float radius_right, float v);
         
         void setPos(float x, float y, float theta);