Activities

Diff: DumpTruck.h

Revision:

6:5cc6a9b6f60e

Parent:

5:dc4cf6cc24b3

Child:

7:dd3a7dcc5c84

diff -r dc4cf6cc24b3 -r 5cc6a9b6f60e DumpTruck.h
--- a/DumpTruck.h	Tue Feb 07 21:01:20 2017 +0000
+++ b/DumpTruck.h	Tue Feb 14 14:37:05 2017 -0500
@@ -1,3 +1,14 @@
+/**
+*   @file   DumpTruck.h
+*
+*   @brief  DumpTruck class implements API for commanding the dump truck and
+*           for implementing proprioceptive sensing.
+*
+*   @author Terrabots Team
+*
+*/
+
+
 #ifndef MBED_DUMP_TRUCK_H
 #define MBED_DUMP_TRUCK_H
  
@@ -5,14 +16,68 @@
 
 class DumpTruck {
 public:
+
+    /**
+    *   Constructor for the DumpTruck object.
+    *
+    *   @param[in]  truckId     Not sure.
+    */
     DumpTruck(int truckId);
+
+    /**
+    *   Command the dump truck to drive with a desired sped for a specified
+    *   distance.
+    *
+    *   @param[in]  mSpeed  The desired motor speed.
+    *   @param[in]  dDist   The desired driver distance.
+    */
     void drive(); // Drive DC motors with a desired motor speed and distance
+
+    /**
+    *   Command the dump truck to stop.
+    *
+    */
     void stop();
+
+    /**
+    *   Perform calibration routine.  It will ... FILL OUT
+    *
+    */
     void Calibrate();
+
+    /**
+    *   WHAT IS THIS ABOUT?
+    *
+    */
     //void RotateTo();
-    //void BedDown(); 
-    //void BedUp();   
+
+    /**
+    *   Move the bed to the fully down position.  The down switch should
+    *   engage.
+    *
+    */
+    void BedDown(); 
+
+    /**
+    *   Move the bed to the fully up position.  The up switch should
+    *   engage.
+    *
+    */
+    void BedUp();   
+
+    /**
+    *   Raise the bed to the desired angle.  Only effective if the bed angle
+    *   estimate has been zeroed out.
+    *
+    */
     //void raiseTo();
+
+
+    /**
+    *   NOT SURE.  HOW DIFFERENT FROM ABOVE? raiseTo should raise to any
+    *   arbitrary angle within limits.
+    *
+    */
     //void LowerBed();