Diff: MX12.h

Revision:

12:acfd6c46954b

Parent:

11:9bc7f5e2ccee

Child:

13:ccda9a56fef1

--- a/MX12.h	Sat Nov 06 17:24:30 2021 +0000
+++ b/MX12.h	Sat Nov 06 17:42:25 2021 +0000
@@ -82,44 +82,45 @@
  * @see https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/
  * @see Dynamixel protocol v1.0 manual
  * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
- 
-@code
- 
-#include "mbed.h"
-#include "MX12.h"
-
-#define SERVO_TX_PIN PC_4
-#define SERVO_RX_PIN PC_5
-#define SERVO_BAUD 115200
-#define SERVO_ID 1
-
-#define DELAY_1000ms 1000
-#define DELAY_1ms       1
-
-MX12 servo_bus(SERVO_TX_PIN, SERVO_RX_PIN, SERVO_BAUD);
-float relative_speed;
-
-int main()
-{
-    // Set speed of SERVO_ID servomotor to 10% 
-    // Send on servo_bus to SERVO_ID motor the instruction "moving speed"
-    // with parameter 0.1 (10% of maximum speed)
-    relative_speed = 0.1; 
-    servo_bus.SetSpeed(SERVO_ID, relative_speed);
-        
-    // wait for one second
-    thread_sleep_for(DELAY_1000ms);
-    
-    // set speed of SERVO_ID servomotor to 0% 
-    relative_speed = 0.0; 
-    servo_bus.SetSpeed(SERVO_ID, relative_speed);
-
-    // infinite loop 
-    while (true) thread_sleep_for(DELAY_1000ms);
-}
-
-@endcode
- 
+ *
+ * Example of class usage to send two instruction packets to servomotor #1
+ * with one second gap. First ask to move at 10% of maximum speed and the 
+ * stop the movement.
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "MX12.h"
+ * 
+ * #define SERVO_TX_PIN PC_4
+ * #define SERVO_RX_PIN PC_5
+ * #define SERVO_BAUD 115200
+ * #define SERVO_ID 1
+ * 
+ * #define DELAY_1000ms 1000
+ * #define DELAY_1ms       1
+ * 
+ * MX12 servo_bus(SERVO_TX_PIN, SERVO_RX_PIN, SERVO_BAUD);
+ * float relative_speed;
+ * 
+ * int main()
+ * {
+ *     // Set speed of SERVO_ID servomotor to 10% 
+ *     // Send on servo_bus to SERVO_ID motor the instruction "moving speed"
+ *     // with parameter 0.1 (10% of maximum speed)
+ *     relative_speed = 0.1; 
+ *     servo_bus.SetSpeed(SERVO_ID, relative_speed);
+ *         
+ *     // wait for one second
+ *     thread_sleep_for(DELAY_1000ms);
+ *     
+ *     // set speed of SERVO_ID servomotor to 0% 
+ *     relative_speed = 0.0; 
+ *     servo_bus.SetSpeed(SERVO_ID, relative_speed);
+ * 
+ *     // infinite loop 
+ *     while (true) thread_sleep_for(DELAY_1000ms);
+ * }
+ * @endcode
  *
  * @warning
  *
@@ -274,32 +275,6 @@
      *                   mot_id                      address   data
      *                                                        (len = N-1)
      * </PRE>
-     *
-     * Code simple
-     *
-     @code
-     * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum|
-     * |-------|-------|---------|------|-----------|---------------|--------|
-     * |  0xFF |  0xFF |Packet ID|Length|Instruction|Param1...ParamN| CHKSUM |
-     * | cmd[0]| cmd[1]|  cmd[2] |cmd[3]|  cmd[4]   |cmd[5]...      |        |
-     *                  \__  ___/                    \_  _/ \__  __/
-     *                     \/                          \/      \/
-     *                   mot_id                      address   data
-     *                                                        (len = N-1)
-     @endcode
-     *
-     * Code simple {.unparsed}
-     *
-     @code{.unparsed}
-     * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum|
-     * |-------|-------|---------|------|-----------|---------------|--------|
-     * |  0xFF |  0xFF |Packet ID|Length|Instruction|Param1...ParamN| CHKSUM |
-     * | cmd[0]| cmd[1]|  cmd[2] |cmd[3]|  cmd[4]   |cmd[5]...      |        |
-     *                  \__  ___/                    \_  _/ \__  __/
-     *                     \/                          \/      \/
-     *                   mot_id                      address   data
-     *                                                        (len = N-1)
-     @endcode
      */
     void rw(unsigned char mot_id, char address, char len, char *data);