Diff: Hardwares/Motor.h

Revision:

91:7b1910ca3ad6

Parent:

79:bdbac82c979b

Child:

100:ffbeefc9e218

--- a/Hardwares/Motor.h	Wed Apr 19 04:26:17 2017 +0000
+++ b/Hardwares/Motor.h	Wed Apr 19 14:54:14 2017 +0000
@@ -1,36 +1,73 @@
+/**
+ * @file Motor.h
+ * @brief The header file for all functions that control the motors.
+ * @author Jordan Brack <jabrack@mix.wvu.edu>, Haofan Zheng <hazheng@mix.wvu.edu>
+ * 
+ */
 #pragma once
+#ifndef MOTOR_H
+#define MOTOR_H
 
 #include <mbed.h>
 
-#define MotorDir uint8_t
-#define MDIR_Forward  0
-#define MDIR_Backward 1
+#define MotorDir uint8_t  /*!< @brief Define the MotorDir type as a alias to the uint8_t. */
+#define MDIR_Forward  0  /*!< @brief Move forward is low voltage level. */
+#define MDIR_Backward 1  /*!< @brief Move backward is high voltage level. */
 
 
-#define MOTOR_MAX_SPEED_LIMIT 0.65f
+#define MOTOR_MAX_SPEED_LIMIT 0.65f /*!< @brief The percentage of the max speed (power) level for the motor driver. (This will be multiply to the speed that finally set to the motor driver) */
 
-#define MOTOR_DIFF_MIN_SPEED  0.55f
+#define MOTOR_DIFF_MIN_SPEED  0.55f /*!< @brief The percentage of the digital rear differential. (It should be used outside of these functions.) */
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+/**
+* @brief Init the motors. There is only one pair of motors in the system, thus, this function is required to be called only once during the system initialization.
+*/
 void motor_init();
 
+/**
+* @brief Set the left motor speed (power) level.
+* @param speed The percentage (between 0 ~ 1) of the speed (power) level. Positive for forward, and negative for backward.
+*/
 void motor_set_left_speed(const float speed);
 
+/**
+* @brief Set the right motor speed (power) level.
+* @param speed The percentage (between 0 ~ 1) of the speed (power) level. Positive for forward, and negative for backward.
+*/
 void motor_set_right_speed(const float speed);
 
+/**
+* @brief Set the motor speed (power) level for both motors.
+* @param speed_left  The percentage (between 0 ~ 1) of the speed (power) level. Positive for forward, and negative for backward.
+* @param speed_right The percentage (between 0 ~ 1) of the speed (power) level. Positive for forward, and negative for backward.
+*/
 inline void motor_set_speeds(const float speed_left, const float speed_right)
 {
     motor_set_left_speed(speed_left);
     motor_set_right_speed(speed_right);
 }
 
+/**
+* @brief Set the left motor direction.
+* @param dir The direction of the motor. For the datatype and available parameter values, please reference to the defines above.
+*/
 void motor_set_left_direction(MotorDir dir);
 
+/**
+* @brief Set the right motor direction.
+* @param dir The direction of the motor. For the datatype and available parameter values, please reference to the defines above.
+*/
 void motor_set_right_direction(MotorDir dir);
 
+/**
+* @brief Set the motor direction for both motors.
+* @param dirL The direction of the left motor. For the datatype and available parameter values, please reference to the defines above.
+* @param dirR The direction of the right motor. For the datatype and available parameter values, please reference to the defines above.
+*/
 inline void motor_set_direction(MotorDir dirL, MotorDir dirR)
 {
     motor_set_left_direction(dirL);
@@ -39,4 +76,6 @@
 
 #ifdef __cplusplus
 }
-#endif
\ No newline at end of file
+#endif
+
+#endif //MOTOR_H
\ No newline at end of file