Diff: source/Movement.cpp

Revision:

106:02d3327bf76a

Parent:

105:d489c2e8de35

Child:

107:8e8a7a9b6fd8

Child:

108:02bc5b4e67b7

--- a/source/Movement.cpp	Thu May 04 09:19:26 2017 +0000
+++ b/source/Movement.cpp	Fri May 05 10:48:36 2017 +0000
@@ -29,6 +29,9 @@
     return 0;
 }
 
+/**
+ * Stops current movement immediately
+**/
 void stop_move()
 {
     set_speed(0,0);
@@ -36,6 +39,9 @@
     is_moving = false;
 }
 
+/**
+ * Stops current turn immediately
+**/
 void stop_turn()
 {
     set_speed(0,0);
@@ -43,6 +49,13 @@
     is_turning = false;
 }
 
+
+/**
+ * move for wanted distance on circle with a given radius
+ * needs to be called until return < 0
+ * if calling distance not 0: distance and radius initilisation.
+ * by Claudio Citterio
+**/
 float move_for_distance_with_radius(float distance, float r)
 {
 
@@ -131,7 +144,12 @@
     return wanted_dist;
 }
 
-
+/**
+ * move for wanted distance
+ * needs to be called until return < 0
+ * if calling distance not 0: distance initilisation.
+ * by Claudio Citterio
+**/
 float move_for_distance(float distance)
 {
     printf("move for distance\r\n");
@@ -182,7 +200,13 @@
     return wanted_dist;
 }
 
-float turn_for_deg(float deg)   //if deg not 0 equals initilisation.
+/**
+ * turn for wanted degree
+ * needs to be called until return < 0
+ * if deg not 0: turn initilisation.
+ * Claudio Citterio
+**/
+float turn_for_deg(float deg)   
 {
 
     if(deg != 0) {
@@ -226,6 +250,10 @@
     return (wanted_deg);
 }
 
+/** has errors
+ * moves to next coordinate from coordinate list
+ * by Claudio Citterio
+**/
 
 int move_to_next_coord()
 {
@@ -270,7 +298,10 @@
     return 0;
 }
 
-// Tobias Berger
+/** 
+ * this function searchs a nearby brick, moves towards it and grabbs it
+ * by Tobias Berger, state machine by Claudio Citterio
+**/
 int move_in_search_for_brick()
 {
     float upper = getDistanceIR(2);                                             // get distance from upper Center Sensor