Diff: MotorDriver.h

Revision:

4:9283a3f684af

Parent:

3:7a6365365ee2

--- a/MotorDriver.h	Thu Apr 28 02:38:16 2016 +0000
+++ b/MotorDriver.h	Sat Apr 30 05:38:43 2016 +0000
@@ -5,9 +5,9 @@
 General/Basic Motor Driver Class providing Motor Control using a COTS Motor Driver
 
     Class based off of Christopher Hasler's Motordriver library found at
-    https://developer.mbed.org/cookbook/Motor 
-    
-    
+    https://developer.mbed.org/cookbook/Motor
+
+
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
@@ -32,26 +32,19 @@
 
 #include "mbed.h"
 
-/** Code_t enum
- *  Provides motor states
- *  
- *  MOTOR_ERROR = 0
- *  DRIVING_CW = 1
- *  DRIVING_CCW = 2
- *  BRAKING = 3
- *  COASTING = 4
- */ 
-typedef enum {MOTOR_ERROR=0, DRIVING_CW=1, DRIVING_CCW=2, BRAKING=3, COASTING=4}Code_t;
-/** State_t struct
- *  The code and value of the state of the motor.
- *  
- *  @note Code_t code
- *  @note float value
- */
-typedef struct{
-    Code_t code;     
-    float  value;
-}State_t;
+/** The state of the motor */
+typedef enum {
+    MOTOR_ERROR=0,  /**< Motor Error Mode */
+    DRIVING_CW=1,   /**< Driving Clockwise (forward) */
+    DRIVING_CCW=2,  /**< Driving Counter-Clockwise (reverse) */
+    BRAKING=3,      /**< Braking Mode */
+    COASTING=4      /**< Coasting Mode */
+} Code_t;
+/** The code and value of the state of the motor. */
+typedef struct {
+    Code_t code;    /**< The Code_t enum of the motor state */
+    float  value;   /**< The numerical value of the motor state */
+} State_t;
 /** MotorDriver class.
  *  Used for DIY project "RC-AutoBot" by Clownface.space
  *
@@ -61,7 +54,7 @@
  * #include "MotorDriver.h"
  *
  * MotorDriver m1(in1, in2, pwm);
- * 
+ *
  * void dist(int distance)
  * {
  *  //put code here to happen when the distance is changed
@@ -74,67 +67,62 @@
  * }
  * @endcode
  */
-class MotorDriver{
-    public:
-        /**
-            Constructor of MotorDriver Objects
-            @param in_1         Direction Input 1
-            @param in_2         Direction Input 2
-            @param pwm          PWM speed control input
-            @param pwmFreq      PWM frequency, some motors may whine at lower freqs
-            @param isBrakable   Boolean value indicating whether or not the 
-                                motor driver is brakeable(see your datasheet)
-        */
-        MotorDriver(DigitalOut in1, DigitalOut in2, PwmOut pwm, float pwmFreq, bool isBrakeable = false);
-        
-        /**
-            Sets speed of motor normalized between -1.0 to 1.0 
-            @param speed    Value -1.0 to 1.0 (>0 CW at speed as percentage)
-                                              (<0 CCW at speed as percentage)
-                                              (=0 speed is zero)
-            @return state of the motor
-            NOTE: This method will NOT allow user to instantaneously swithch 
-            from CW to CCW or vise versa. Doing so will cause the motor to 
-            be put in to a BRAKE condition, while the motor_state.code will 
-            be updated to MOTOR_ERROR. User should avoid trying to do this, call 
-            first setSpeed(0) or brake().  
-        */
-        State_t setSpeed(float speed);
-        
-        /**
-            Same as setSpeed(float speed), however does not impose the safety disallowing
-            instantaneous reversal of motor direction. It is up to the user to ensure they
-            do not blow up their motor. 
-            
-            @param speed How fast to run the motor
-        */
-        State_t forceSetSpeed(float speed);
-        
-        /**
-            Put motor into braked config
-            @param intensity How hard to brake (0.0 to 1.0)
-            @return state of the motors
-        */
-        State_t brake(float intensity);
-        
-        /**
-            Put motor into stop/coast config
-        */
-        State_t coast();
-                
-        /**
-            Get state of the motor
-            @return state of the motor
-        */
-        State_t getState();
-        
-    protected:                        // Protected so objects that inherit can access
-        State_t    motor_state;
-        DigitalOut _in1;
-        DigitalOut _in2;
-        PwmOut     _pwm;
-        bool       isBrakeable;
-        void determineState();        // Determine motor state based on in1, in2, and pwm
+class MotorDriver
+{
+public:
+    /** Constructor of MotorDriver Objects
+        @param in_1         Direction Input 1
+        @param in_2         Direction Input 2
+        @param pwm          PWM speed control input
+        @param pwmFreq      PWM frequency, some motors may whine at lower freqs
+        @param isBrakable   Boolean value indicating whether or not the
+                            motor driver is brakeable(see your datasheet)
+    */
+    MotorDriver(DigitalOut in1, DigitalOut in2, PwmOut pwm, float pwmFreq, bool isBrakeable = false);
+
+    /** Sets speed of motor normalized between -1.0 to 1.0
+        @param speed    Value -1.0 to 1.0 (>0 CW at speed as percentage)
+                                          (<0 CCW at speed as percentage)
+                                          (=0 speed is zero)
+        @return state of the motor
+        NOTE: This method will NOT allow user to instantaneously swithch
+        from CW to CCW or vise versa. Doing so will cause the motor to
+        be put in to a BRAKE condition, while the motor_state.code will
+        be updated to MOTOR_ERROR. User should avoid trying to do this, call
+        first setSpeed(0) or brake().
+    */
+    State_t setSpeed(float speed);
+
+    /** Same as setSpeed(float speed), however does not impose the safety disallowing
+        instantaneous reversal of motor direction. It is up to the user to ensure they
+        do not blow up their motor.
+
+        @param speed How fast to run the motor
+    */
+    State_t forceSetSpeed(float speed);
+
+    /** Put motor into braked config
+        @param intensity How hard to brake (0.0 to 1.0)
+        @return state of the motors
+    */
+    State_t brake(float intensity);
+
+    /** Put motor into stop/coast config
+    */
+    State_t coast();
+
+    /** Get state of the motor
+        @return state of the motor
+    */
+    State_t getState();
+
+protected:                        // Protected so objects that inherit can access
+    State_t    motor_state;
+    DigitalOut _in1;
+    DigitalOut _in2;
+    PwmOut     _pwm;
+    bool       isBrakeable;
+    void determineState();        // Determine motor state based on in1, in2, and pwm
 };
 
 #endif
\ No newline at end of file