Diff: AX12.h

Revision:

1:93ad80f5fde7

Parent:

0:be51952765ec

Child:

2:5ea99c37a2d7

--- a/AX12.h	Thu Jun 03 14:22:25 2010 +0000
+++ b/AX12.h	Wed Mar 30 16:08:02 2011 +0000
@@ -47,49 +47,116 @@
 #define AX12_CW 1
 #define AX12_CCW 0
 
+/** Servo control class, based on a PwmOut
+ *
+ * Example:
+ * @code
+ * #include "mbed.h"
+ * #include "AX12.h"
+ * 
+ * int main() {
+ * 
+ *   AX12 myax12 (p9, p10, 1);
+ *
+ *   while (1) {
+ *       myax12.SetGoal(0);    // go to 0 degrees
+ *       wait (2.0);
+ *       myax12.SetGoal(300);  // go to 300 degrees
+ *       wait (2.0);
+ *   }
+ * }
+ * @endcode
+ */
 class AX12 {
 
 public:
 
-    // define which pins are used, and the ID of this instance
-    // Mutiple AX12's can share the same pins.
+    /** Create an AX12 servo object connected to the specified serial port, with the specified ID
+     *
+     * @param pin tx pin
+     * @param pin rx pin 
+     * @param int ID, the Bus ID of the servo 1-255 
+     */
     AX12(PinName tx, PinName rx, int ID);
 
-    // methods for writing and reading registers
-    int read(int ID, int start, int length, char* data);
-    int write(int ID, int start, int length, char* data, int flag=0);
+    /** Set the mode of the servo
+     * @param mode
+     *    0 = Positional, default
+     *    1 = Continuous rotation
+     */
+    int SetMode(int mode);
 
-    // set goal angle in integer degrees
-    // flags[0] = blocking (only returns when goal reached
-    // flags[1] = register. Requires broadcast trigger to activate
+    /** Set goal angle in integer degrees, in positional mode
+     *
+     * @param degrees 0-300
+     * @param flags, defaults to 0
+     *    flags[0] = blocking, return when goal position reached 
+     *    flags[1] = register, activate with a broadcast trigger
+     *
+     */
     int SetGoal(int degrees, int flags = 0);
 
-    // Mode = 0, positional
-    // Mode = 1, continuous rotation
-    int SetMode(int mode);
 
-    // Speed is -1.0 (CCW) to 1.0 (CW)
+    /** Set the speed of the servo in continuous rotation mode
+     *
+     * @param speed, -1.0 to 1.0
+     *   -1.0 = full speed counter clock wise
+     *    1.0 = full speed clock wise
+     */
     int SetCRSpeed(float speed);
 
-    // set these in degrees, CCW limit is 300
-    // If both are set to zero, we are continuous rotation
+
+    /** Set the clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
     int SetCWLimit(int degrees);
+    
+    /** Set the counter-clockwise limit of the servo
+     *
+     * @param degrees, 0-300
+     */
     int SetCCWLimit(int degrees);
 
     // Change the ID
+
+    /** Change the ID of a servo
+     *
+     * @param CurentID 1-255
+     * @param NewID 1-255
+     *
+     * If a servo ID is not know, the broadcast address of 0 can be used for CurrentID.
+     * In this situation, only one servo should be connected to the bus
+     */
     int SetID(int CurrentID, int NewID);
 
-    // returns true if the motor is in motion
+
+    /** Poll to see if the servo is moving
+     *
+     * @returns true is the servo is moving
+     */
     int isMoving(void);
 
-    // broadcast to trigger registered goals
+    /** Send the broadcast "trigger" command, to activate any outstanding registered commands
+     */
     void trigger(void);
 
-    // Get current angle, only valid 0-300
+    /** Read the current angle of the servo
+     *
+     * @returns float in the range 0.0-300.0
+     */
     float GetPosition();
 
-    // In volts and ^C
+    /** Read the temperature of the servo
+     *
+     * @returns float temperature 
+     */
     float GetTemp(void);
+
+    /** Read the supply voltage of the servo
+     *
+     * @returns float voltage
+     */
     float GetVolts(void);
 
 private :
@@ -97,6 +164,9 @@
     SerialHalfDuplex _ax12;
     int _ID;
 
+    int read(int ID, int start, int length, char* data);
+    int write(int ID, int start, int length, char* data, int flag=0);
+
 };
 
 #endif