Diff: Tracker.h

Revision:

6:50f337affc44

Parent:

5:757a984ac553

--- a/Tracker.h	Tue Feb 14 21:04:20 2017 +0000
+++ b/Tracker.h	Tue Feb 14 21:18:43 2017 +0000
@@ -61,27 +61,75 @@
         */
         void calcDisplacement();
     private:
+        /**
+        *   The QEI object created with the QEI library to interpret encoder
+        *   measurements.
+        */
         QEI *wheel;
+        /**
+        *   The interrupt pin used for channel A.
+        */
         PinName chA;
+        /**
+        *   The interrupt pin used for channel B.
+        */
         PinName chB;
+        /**
+        *   The AnalogIn pin used for the potentiometer.
+        */
         AnalogIn pot;
+        /**
+        *   The number of pulses recorded by the encoder.
+        */
         float pulseCount;
+        /**
+        *   The type of encoding (X2 or X4) used for the encoder.
+        */
         float encoding;
+        /**
+        *   The circumference of the front dump truck wheel.
+        */
         float circumference;
+        /**
+        *   Equal to 1360. This constant is used to convert pulses counted to
+        *   inches traveled.
+        */
         float constant;
-
+        /**
+        *   The distance traveled by the dump truck.
+        */
         float distance;
-
+        /**
+        *   The horizontal position of the dump truck.
+        */
         float x;
+        /**
+        *   The vertical position of the dump truck.
+        */
         float y;
-
+        /**
+        *   The raw analog value of the potentiometer
+        */
         float value;
+        /**
+        *   The angle at which the dump truck is turning.
+        */
         float turnAngle;
+        /**
+        *   The angle at which the dump truck is driving straight forward.
+        */
         float zeroAngle;
-
+        /**
+        *   The direction at which the dump truck is turning.
+        */
         int dir;
-
+        /**
+        *   The distance from the front wheel to the turning axle.
+        */
         float df;
+        /**
+        *   The distance from the rear wheel to the turning axle.
+        */
         float db;
         float W;
         float R;