PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

Diff: MX12.h

Revision:
1:a9ba9cf928fe
Parent:
0:7556356a8bcd
Child:
2:02f3323a107d
--- a/MX12.h	Wed Nov 03 11:17:12 2021 +0000
+++ b/MX12.h	Wed Nov 03 12:56:02 2021 +0000
@@ -1,20 +1,32 @@
 #ifndef MBED_MX12_H
 #define MBED_MX12_H
 
-/** Class to communicate with Dynamixel MX12 servomotors. 
- *
- * 
- */
+/**  
+* @file MX12.h  
+* @brief this header file will contain all required  
+*        definitions and basic utilities functions. 
+*  
+* @author Titouan Soulard 
+* @author Bruno Denis (for comments)
+* 
+*/ 
 
 #include "mbed.h"
 
 #define MX12_ANSWER_MAX_SIZE 32
 #define MX12_MOTOR_COUNT 16
 
+/** Class to communicate with Dynamixel MX12 servomotors. 
+ *
+ *  
+ */
 class MX12 
 {
     public:
     
+        /** Status of servomotor
+         *
+         */
         enum Status {
             InstructionError,
             OverloadError,
@@ -27,7 +39,10 @@
             Ok
         };
         
-        enum State {
+        /** State of communication automaton
+         *
+         */
+         enum State {
             ReadingPosition,
             Writing,
             Available,
@@ -57,6 +72,7 @@
         
         MX12::Status GetStatus(void);
         
+        
         void ReadPosition(unsigned char mot_id);
         
         float GetPosition(unsigned char mot_id);
@@ -65,6 +81,10 @@
         
         void rw(unsigned char mot_id, char adress, char len, char *data);
         
+        /** Interupt Routine to read in data from UART daisy chain link
+         *  (serial port)
+         *
+         */
         void _ReadCallback();
         
         char _chksm;