Diff: PiControlThread.cpp

Revision:

7:73fd05fe556a

Parent:

6:e7ce340fe91e

Child:

8:a0890fa79084

--- a/PiControlThread.cpp	Sat Feb 10 19:35:21 2018 +0000
+++ b/PiControlThread.cpp	Thu Feb 15 01:15:26 2018 +0000
@@ -3,7 +3,7 @@
 #include "Drivers/motor_driver.h"
 #include "Drivers/DE0_driver.h"
 #include "PiControlThread.h"
-#include "PiController.h"
+#include "Drivers/PiController.h"
 
 extern int setpoint;
 
@@ -34,7 +34,13 @@
 
 DigitalOut led3(LED3);
 
-
+/*******************************************************************************
+* @brief    function that creates a thread for the PI controller. It initializes 
+*           the PI controller's gains and initializes the DC Motor. It also 
+*           initializes the PIControllerThread runs at 50ms period
+* @param    none
+* @return   none
+*******************************************************************************/
 void PiControlThreadInit()
 {
     DE0_init();                  // initialize FPGA
@@ -52,7 +58,10 @@
 
 
 /*******************************************************************************
-*               ******** Periodic Timer Interrupt Thread ********
+* @brief    This is the PI controller thread. It reads several values from the 
+*           FPGA such as speed, time and other sensors data
+* @param    none
+* @return   none
 *******************************************************************************/
 void PiControlThread(void const *argument)
 {
@@ -77,16 +86,17 @@
         else if (U < 0)
         {
             motorDriver_reverse(U);
-        }   
+        }
            
     }
     
 }
 
 /*******************************************************************************
-* the interrupt below occures every 250ms as setup in the main function during 
-* initialization
-*               ******** Period Timer Interrupt Handler ********
+* @brief    The ISR below signals the PIControllerThread. it is setup to run 
+*           every 50ms
+* @param    none
+* @return   none
 *******************************************************************************/
 void PeriodicInterruptISR(void)
 {