EE149
/
FinalProject
Final Project files for mBed development.
Diff: main.h
- Revision:
- 29:459ff10d2a07
- Parent:
- 22:46b9d9b2e35c
- Child:
- 31:1e950ee04481
--- a/main.h Mon Dec 08 10:52:42 2014 +0000 +++ b/main.h Mon Dec 08 22:43:09 2014 +0000 @@ -3,6 +3,8 @@ * @brief Main header file for includes and whatnot * for the other project files. * @author John Wilkey + * @author Alec Guertin + * @author Chester Chu */ #ifndef _MAIN_H @@ -24,10 +26,7 @@ #define CLOSE_ENOUGH .0008 -/** - * @brief move the robot from its current position to (x,y) - * - */ +/** @brief Move the robot from its current position to (x,y) */ void move(int x, int y, int draw); /** @@ -43,52 +42,42 @@ int retrieve_inst(char *buf, int *x, int *y, int *draw); /** - * @brief Driver forward. + * @brief Driver forward for a time. * - * @param[in] amt Amount to drive forward. In centimeters. - * @return Success or failure. + * @param[in] amt Amount to drive forward. In milliseconds. */ -int forward(int amt); +void forward(int amt); /** - * @brief Drive backward. + * @brief Drive backward for a time. * - * @param[in] amt Amount to drive backward. In centimeters. - * @return Success or failure. + * @param[in] amt Amount to drive backward. In milliseconds. */ -int backward(int amt); +void backward(int amt); /** - * @brief Turn right. + * @brief Turn right by some angle. * - * @param[in] deg Desired final turn angle from starting position. - * @param[in] spd Desired turning speed. - * @return Success or failure. + * @param[in] deg Desired final turn angle in degrees from start. + * Note that a negative angle will turn in the opposite + * direction. */ -int right(float deg); +void right(float deg); /** - * @brief Turn left. + * @brief Turn left by some angle. * - * @param[in] deg Desired final turn angle from starting position. - * @param[in] spd Desired turning speed. - * @return Success or failure. + * @param[in] deg Desired final turn angle in degrees from start. + * Note that a negative angle will turn in the opposite + * direction. */ -int left (float deg); +void left (float deg); -/** - * @brief Enable pen motion. - * - * Note that at the moment, for simplicity, this method just activates an LED - * on the expansion board to indicate that the pen should be in DOWN mode. - */ +/** @brief Lower pen intro drawing position */ void pen_down(); - /** - * @brief Raise pen - */ -void pen_up(); - +/** @brief Raise pen into moveto position */ +void pen_up(); /** * @brief Controller decision logic. @@ -98,10 +87,12 @@ void next_action(); /** - * @brief Wait for a number of seconds, possibly fractional. + * @brief Wait for a number of seconds, possibly fractional. + * + * Timer resolution is on the order of microseconds. A negative wait + * time does nothing. * - * This is because mBed wait() function SUCKS + * @param[in] amt Time to wait, in seconds. */ -void timerWait(float); - -#endif +void timerWait(float amt); +#endif \ No newline at end of file