official library and example code for tracking X and Y positions on the dump truck

Dependencies:   QEI mbed

Dependents:   DUMP_TRUCK_TEST_V1 DUMP_TRUCK_SPR2017

Revision:
5:757a984ac553
Parent:
0:8038ea3ee241
Child:
6:50f337affc44
--- a/Tracker.h	Thu Feb 09 19:57:37 2017 +0000
+++ b/Tracker.h	Tue Feb 14 21:04:20 2017 +0000
@@ -1,9 +1,26 @@
+/**
+*   @file   Tracker.h
+*
+*   @brief  Tracker class implements API for sensing the position of the
+*           dump truck.
+*
+*   @author Terrabots Team
+*
+*/
+
 #ifndef TRACKER_H
 #define TRACKER_H
 
 #include "mbed.h"
 #include "QEI.h"
 
+/**
+*   @class Tracker
+*
+*   @brief  Interface for tracking the position of a Dump Truck configured
+*   "robot."
+*/
+
 #define STRAIGHT    0
 #define CCW         1
 #define CW          2
@@ -11,11 +28,37 @@
 
 class Tracker {
     public:
+        /**
+        *   Constructor for the Tracker object.
+        *
+        *   @param[in]  _chA     The interrupt pin used for channel A
+        *   @param[in]  _chB     The interrupt pin used for channel B
+        *   @param[in]  _pot     The AnalogIn pin used for the potentiometer
+        */
         Tracker(PinName _chA, PinName _chB, PinName _pot);
+        /**
+        *   Set initial position and distance traveled to 0.
+        */
         void clear();
+        /**
+        *   Set a reference "zero angle" for the potentiometer and wait five
+        *   seconds for the user to set a turning angle.
+        */
         void potSetup();
+        /**
+        *   Set a direction, either clockwise or counterclockwise, for the
+        *   dump truck, based on the turning angle.
+        */
         void setDirection();
+        /**
+        *   Check if the dump truck has moved before starting position-tracking
+        *   calculations.
+        */
         void checkToStart();
+        /**
+        *   Calculate the x and y position of the dump truck based on sensor
+        *   measurements.
+        */
         void calcDisplacement();
     private:
         QEI *wheel;