Diff: main.h

Revision:

40:0199bad6c979

Parent:

39:cc8691700d2a

--- a/main.h	Sat Dec 13 07:35:57 2014 +0000
+++ b/main.h	Wed Dec 17 05:13:37 2014 +0000
@@ -16,29 +16,26 @@
 #include <stdio.h>
 #include <math.h>
 
-// Constants used in main.c
-#define TURN_SPEED  0.15    /**< Motor power for turning */
-#define DRIVE_SPEED 0.25    /**< Motor power for drawing/moving */
-#define TIME_FACT 1780      /**< Multiplier for forward() and backward() */
-#define CAL_SPEED .25       /**< Drive speed during calibration */
-#define CLOSE_ENOUGH .0008  /**< Threshold for calibration line centering */
-#define WIGGLE_MAX 30       /**< Max 'wiggles' during calibration */
-#define CORNER_THRESHOLD 0.3 /**< Threshold for checking if line position denotes a corner */
-#define INST_BUF_SIZE 250 /**< Size of input buffer for instructions */
-#define CORRECTION_SPEED 0.2*DRIVE_SPEED /**< Amount to change speed of one wheel when following line */
-#define CORRECTION_THRESHOLD 0.05 /**< Maximum tolerable deviation from line when following line */
-#define RAD_TO_DEG  57.29 /**< Factor to convert radians to degrees */
-#define FULL_TURN   360 /**< Degrees for a full turn */
-#define HALF_TURN   180 /**< Degrees for a half turn */
-#define QUARTER_TURN    90 /**< Degrees for a quarter (right angle) turn */
-#define CAL_FACTOR  1.1 /**< Scaling factor for time to drive */
-#define DEGREE_CORRECTION 0 /**< Amount (in degrees) added to the angle for each turn */
-#define SEC_TO_MSEC 1000 /**< Scaling factor to convert seconds to milliseconds */
-#define SEC_TO_USEC 1000000 /**< Scaling factor to convert seconds to microseconds */
-#define MSEC_TO_USEC 1000 /**< Scaling factor to convert milliseconds to microseconds */
-
-/** @brief Move the robot from its current position to (x,y) */
-void move(int x, int y, int draw);
+/* Constants used in main.c */
+#define TURN_SPEED              0.15    /**< Motor power for turning */
+#define DRIVE_SPEED             0.25    /**< Motor power for drawing/moving */
+#define TIME_FACT               1780    /**< Multiplier for forward() and backward() */
+#define CAL_SPEED               0.25    /**< Drive speed during calibration */
+#define CLOSE_ENOUGH            0.0008  /**< Threshold for calibration line centering */
+#define WIGGLE_MAX              30      /**< Max 'wiggles' during calibration */
+#define CORNER_THRESHOLD        0.3     /**< Threshold for checking if line position denotes a corner */
+#define INST_BUF_SIZE           250     /**< Size of input buffer for instructions */
+#define CORRECTION_SPEED        0.2*DRIVE_SPEED     /**< Amount to change speed of one wheel when following line */
+#define CORRECTION_THRESHOLD    0.05    /**< Maximum tolerable deviation from line when following line */
+#define RAD_TO_DEG              57.29   /**< Factor to convert radians to degrees */
+#define FULL_TURN               360     /**< Degrees for a full turn */
+#define HALF_TURN               180     /**< Degrees for a half turn */
+#define QUARTER_TURN            90      /**< Degrees for a quarter (right angle) turn */
+#define CAL_FACTOR              1.1     /**< Scaling factor for time to drive */
+#define DEGREE_CORRECTION       0       /**< Amount (in degrees) added to the angle for each turn */
+#define SEC_TO_MSEC             1000    /**< Scaling factor to convert seconds to milliseconds */
+#define SEC_TO_USEC             1000000 /**< Scaling factor to convert seconds to microseconds */
+#define MSEC_TO_USEC            1000    /**< Scaling factor to convert milliseconds to microseconds */
 
 /**
  * @brief get values of next PostScript instruction.
@@ -94,13 +91,64 @@
  */
 void timerWait(float amt);
 
+/**
+ * @brief       Follows the non-reflective line to a corner
+ *
+ * @param[in]   left    boolean specifying if the corner to look for
+ *                      is a left corner
+ *
+ * @return      returns an error code
+ */
 int find_corner(int left);
 
+/**
+ * @brief   Turns towards the base line and moves to reach it
+ */
 void find_line();
 
+/**
+ * @brief   Computes the Euclidean distance between two points
+ *
+ * @param[in]   x1      the x-coordinate of the first point
+ * @param[in]   y1      the y-coordinate of the first point
+ * @param[in]   x2      the x-coordinate of the second point
+ * @param[in]   y2      the y-coordinate of the second point
+ *
+ * @return      the distance between points (x1,y1) and (x2,y2)
+ */
 float distance(int x1, int y1, int x2, int y2);
 
+/**
+ * @brief   prints to the m3pi's screen
+ *
+ * @param[in]   line    the line on the screen to print to, in {0,1}
+ * @param[in]   format  the format string to print
+ * @param[in]   ...     the arguments to pass into the format string
+ */
 void robot_printf(int line, const char *format, ...);
 
+/**
+ * @brief   computes the angle to turn to face towards (x,y)
+ *
+ * @param[in]   last_x  the current x-coordinate
+ * @param[in]   last_y  the current y-coordinate
+ * @param[in]   x       the desired x-coordinate
+ * @param[in]   y       the desired y-coordinate
+ * @param[in]   angle   the current angle the m3pi is facing
+ *
+ * @return      the angle to turn left
+ */
 float compute_turn_angle(int last_x, int last_y, int x, int y, float angle);
+
+/**
+ * @brief       sends the signal on the output pin for the led
+ *              to turn it on
+ */
+void pen_up();
+
+/**
+ * @brief       turns off the signal to the led
+ */
+void pen_down();
+
 #endif
\ No newline at end of file