Diff: controlandadjust.h

Revision:

3:8e6dacabe898

Parent:

2:a1b6930947a9

Child:

4:e732794d8e7f

diff -r a1b6930947a9 -r 8e6dacabe898 controlandadjust.h
--- a/controlandadjust.h	Tue Oct 06 12:44:50 2015 +0000
+++ b/controlandadjust.h	Tue Oct 06 13:21:20 2015 +0000
@@ -1,36 +1,89 @@
 #ifndef MBED_CONTROLANDADJUST_H
 #define MBED_CONTROLANDADJUST_H
-
+/**
+ * Includes
+ */
 #include "mbed.h"
 #include <string>
 
 /** A library with a P-, PI- and PID-controller, useful for the module biorobotics
-*Example
-*@code
-*#include "mbed.h"
-*#include "controlandadjust.h"
-*#include "QEI.h" //This is found at https://developer.mbed.org/users/aberk/code/QEI/
-*
-*QEI Encoder (D13, D12, NC, 32); //Encoder with X2 encoding and 32 counts per revolution
-*Ticker controlticker;
-*controlandadjust mycontroller; //NO () AT THE END!!
-*AnalogIn pot1(A0);
-*
+ * Example
+ * @code
+ * #include "mbed.h"
+ * #include "controlandadjust.h"
+ * #include "QEI.h" //This is found at https://developer.mbed.org/users/aberk/code/QEI/
+ *
+ * QEI encoder1 (D13, D12, NC, 32); //Encoder with X2 encoding and 32 counts per revolution
+ * QEI encoder2 (D111, D10, NC, 32); //Encoder with X2 encoding and 32 counts per revolution
+ *
+ * controlandadjust mycontroller; //NO () AT THE END!!
+ * const float kp=0.5;
+ * AnalogIn pot(A0);
+ *
+ * int main(){
+ *       while(1){
+ *            float error1=(2*PI*pot.read()-counttorad*encoder1.getPulses()); //calculate error motor 1
+ *            float error2=(2*PI*pot.read()-counttorad*encoder2.getPulses()); //calculate error motor 2
+ *
+ *            controller.P(error1,error2,kp); //controll with p controller
+ *       };
+ *   return 0;
+ * } 
+ * @endcode
 */
+
+/**
+ * Controller for biorobotics
+ */
 class controlandadjust
 {
 public:
 ///Instantiate the controller
     controlandadjust(void);
-   /**P controller 
-   *@param error1 : Error from motor 1
-   *@param error2 : Error from motor 2
-   *@param Kp : Desired value of Kp for your controller*/
+    /** P controller
+    * @param error1 : float Error from motor 1
+    * @param error2 : float Error from motor 2
+    * @param Kp : float Desired value of Kp for your controller
+    * @return void
+    */
     void P(float error1, float error2 ,float Kp );
+
+    /** PI controller
+    * @param error1 : float Error from motor 1
+    * @param error2 : float Error from motor 2
+    * @param Kp : float Desired value of Kp for your controller
+    * @param Ki : float Desired value of Ki for your controller
+    * @param Ts : float Sampling time of your controller (1/Fs)
+    * @param &error1_int : float Error for the integral from motor 1
+    * @param &error2_int : float Error for the integral from motor 2
+    * @return void
+    */
     void PI(float error1, float error2, float Kp, float Ki,float Ts, float &error1_int, float &error2_int);
+
+    /** PID controller
+    * @param error1 : float Error from motor 1
+    * @param error2 : float Error from motor 2
+    * @param Kp : float Desired value of Kp for your controller
+    * @param Ki : float Desired value of Ki for your controller
+    * @param Kd : float Desired value of Kd for your controller
+    * @param Ts : float Sampling time of your controller (1/Fs)
+    * @param &error1_int : float Error for the integral from motor 1
+    * @param &error2_int : float Error for the integral from motor 2
+    * @param &error1_prev : float Previous error from motor 1 for the derivative
+    * @param &error2_prev : float Previous error from motor 2 for the derivative
+    * @return void
+    */
     void PID(float error1, float error2, float Kp, float Ki,float Kd,float Ts,
              float &error1_int, float &error2_int, float &error1_prev, float &error2_prev);
+
+    /** Read the PWM signal to motor 1
+    * @return PWM signal to motor 1
+    */
     float motor1pwm();
+
+    /** Read the PWM signal to motor 2
+      * @return PWM signal to motor 2
+      */
     float motor2pwm();
 
 private: