UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

Diff: initializations.cpp

Revision:
6:2ffa254e8f6e
Parent:
4:89ebfa37663b
Child:
7:950b3c3b5a2b
--- a/initializations.cpp	Mon Mar 05 23:45:59 2018 +0000
+++ b/initializations.cpp	Tue Mar 06 21:44:07 2018 +0000
@@ -9,7 +9,8 @@
 // Initializations
 
 void setupGimbal(){
-    gimbal.servo(YAWID, YAWZERO, 50); // Set the Gimbal at the zero position.
+    // Set the Gimbal at the zero position.
+    gimbal.servo(YAWID, YAWZERO, 50); 
     control.yaw = YAWZERO;
     wait(0.1);
     gimbal.servo(PITCHID, PITCHZERO, 50);
@@ -34,9 +35,11 @@
     currentPosition = 0;
     stopHallInt();
     wait(0.1);
+    // Lift up from stalling position
     liftDirection.write(LIFTUP);
     liftSpeed.write(0.3);
     wait(0.1);
+    //Stop
     liftSpeed.write(0);
 }
 
@@ -47,11 +50,11 @@
     nh.subscribe(sub);
 }
 
-void startHallInt() {
+void startHallInt() { // Starting hall effect timer interrupt
     hallInt.attach(&hallInterrupt, 0.03);
 }
 
-void stopHallInt() {
+void stopHallInt() { // Stopping hall effect timer interrupt
     hallInt.detach();
 }