Diff: motors.h

Revision:

1:a6728adaf7e7

Parent:

0:8a2dd255c508

Child:

3:8762f6b2ea8d

--- a/motors.h	Sat Nov 26 17:28:53 2016 +0000
+++ b/motors.h	Sat Nov 26 21:43:52 2016 +0000
@@ -1,6 +1,9 @@
 #ifndef MOTORS_H
 #define MOTORS_H
 
+/**
+ *  The Motors class contains the functions to control the robots motors
+ */
 class Motors
 {
 public:
@@ -10,19 +13,79 @@
     void init(void);
     
     
+    /**
+     * Put the H-Bridge drivers in sleep (low-power) mode
+     */ 
+    void sleep(void);
     
-    void sleep(void);
+    /**
+     * Wake the H-Bridge drivers from sleep mode
+     */
     void wake_up(void);
+    
+    /**
+     * Set the left H-Bridge driver to high-Z (coast mode) for the motor
+     */
     void coast_left(void);
+    
+    /**
+     * Set the left H-Bridge driver to active brake
+     */
     void brake_left(void);
+    
+    /**
+     * Set the speed and direction of the left-motor H-Bridge driver
+     *
+     * @param speed - A value between -1.0 [max reverse], 0 [coast] and 1.0 [max forward]
+     */
     void set_left_motor_speed(float speed);
+    
+    /**
+     * Set the right H-Bridge driver to high-Z (coast mode) for the motor
+     */
     void coast_right(void);
+    
+    /**
+     * Set the right H-Bridge driver to active brake
+     */
     void brake_right(void);
+    
+    /**
+     * Set both H-Bridge drivers to high-Z (coast mode) for the motor
+     */
     void coast(void);
+    
+     /**
+     * Set both H-Bridge drivers to active brake
+     */
     void brake(void);
+    
+    /**
+     * Set the speed and direction of the right-motor H-Bridge driver
+     *
+     * @param speed - A value between -1.0 [max reverse], 0 [coast] and 1.0 [max forward]
+     */
     void set_right_motor_speed(float speed);
+    
+    /**
+     * Get the approximate instantaneous current draw of the left-motor H-Bridge driver
+     *
+     * @returns The current value in A
+     */
     float get_current_left(void);
+    
+    /**
+     * Get the approximate instantaneous current draw of the right-motor H-Bridge driver
+     *
+     * @returns The current value in A
+     */
     float get_current_right(void);
+    
+    /**
+     * Calculates an adjusted speed value to avoid stalls at low-speeds if USE_STALL_OFFSET is set to 1 [in robot.h]
+     * @params speed_in - The speed value from 0.0 to 1.0
+     * @returns The adjusted speed value from 0.0 to 1.0, increased by STALL_OFFSET then scaled to fit
+     */
     float get_adjusted_speed(float speed_in);