Diff: LineFollowingRobot/IRSensor_H.h

Revision:

3:54c41af9e119

Parent:

1:a2ceed49374e

Child:

4:645b5d648c64

diff -r 74d8b693bc62 -r 54c41af9e119 LineFollowingRobot/IRSensor_H.h
--- a/LineFollowingRobot/IRSensor_H.h	Sat Feb 02 16:38:08 2019 +0000
+++ b/LineFollowingRobot/IRSensor_H.h	Sun Feb 03 16:42:44 2019 +0000
@@ -4,6 +4,12 @@
 #include <mbed.h>
 #include "RobotControl_H.h"
 
+//IRSensor deals with sampling and processing the data from the IR sensors
+//the IR sensors are used to determine the position of the robot wrt the black line
+//A PID controller system is used to stabilize the Robot above the black line
+
+//Instantiation: the 5 pins for the IRSensor and Kp Ki and Kd for the PID
+
 class IRSensor
 {
 private:
@@ -17,6 +23,7 @@
     bool  m_prevDirL, m_prevDirR;
     bool m_lineSensor[5];
     
+    int m_color;
     short int m_error, m_prevError;
     const float m_Kp, m_Ki, m_Kd;
     float m_P, m_I, m_D;
@@ -28,10 +35,22 @@
     bool m_dirL, m_dirR, m_toggle;
     float m_speedL, m_speedR;
     
+    
     IRSensor(PinName pin1, PinName pin2, PinName pin3, PinName pin4, PinName pin5, float Kp, float Ki, float Kd);
+    
+    //function attached to the ticker
+    //reads the values from the Photodiodes to the linesensor array
     void Sample();
+    
+    //Assigns a weight to the error from the IRsensors result
     void WeightPID();
+    
+    //Calculates the total PID
+    //the response will highly depend on Kp, Ki and Kd which can assigned when instantiating
     void CalculatePID();
+    
+    //controls the motor depending on the error calculated by the previous methods
+    //takes in both RobotControls instances which control the left and right
     void MotorControl(RobotControl controlLeft, RobotControl controlRight);