Diff: Buggy.h

Revision:

6:edbaeaaf08bb

Parent:

5:a33f016d5962

--- a/Buggy.h	Mon Aug 07 18:57:55 2017 +0000
+++ b/Buggy.h	Sat Aug 12 21:46:41 2017 +0000
@@ -15,21 +15,44 @@
 #define ROTATE_ANTICLOCKWISE    3
 
 
-
+/*This command should be called when we want to stop the buggy because of a
+detected obstacle*/
 void PauseLastCommand();
+/*This command should be called once we are sure that the detected obstacle is
+no longer present and the buggy will complete the last command it was executing
+before it was paused*/
 void ContinueLastCommand();
+/*This command should be polled whilst the buggy is moving. It returns a true
+when the last command has been completed and is also responsible for stopping the
+buggy once the last command has been completed.  Without polling this command, 
+the buggy will continue to run*/
 bool hasLastCommandCompleted();
+/*This command initialises the microbit runtime, sets up the buttons to receive events
+and kicks off the sonar pulses.*/
 void InitialiseBuggy();
+/*This function returns the latest sonar timing in microseconds. The user needs
+to convert this to a distance measure at some point*/
 unsigned int GetSonarTime_us();
-
+/*Test function to test the anti-collision function.  The buggy will run forward
+at the input motor Voltage for a maximum of Time_ms, but will pause when it detects
+that an obstacle is within a sonar echo of SonarTime_us microseconds.  This is here
+as a tip for the user to know how to use the above functions.*/
 void TestAntiCollision(unsigned int Voltage, unsigned int Time_ms, unsigned int SonarTime_us);
-
+/*Test function to assist the user in relating a motor voltage to the speed that
+the motor travels at. Pushing button A will toggle the test to different settings
+for motor speed and direction. Pushing button B then starts the test after a
+3, 2, 1 countdown.*/
 void MotorSpeedCharacterisation(void);
-
+/*Function to test the buggy after a build. The buggy will first use the LEDs
+to display the sonar result for 10 secs, the drive forward, backwards, rotate
+clockwise, then anti-clockwise*/
 void SelfTest();
-
+/*Function to print the sonar echo in ms using the LEDs and if connected to a PC,
+also using the COMMS port (serial output). This can be used to characterise the
+ultrasonic sensor*/
 void DisplaySonarTiming();
 
+//Export of the microbit runtime instance.
 extern MicroBit uBit;