Diff: bench.cpp

Revision:

7:edb876c98565

Parent:

6:02507d7a6f51

Child:

8:bc467f5fe7c3

--- a/bench.cpp	Mon Dec 09 11:15:47 2019 +0000
+++ b/bench.cpp	Mon Dec 09 12:51:14 2019 +0000
@@ -1,12 +1,11 @@
 #include "bench.h"
 
 /**
- * Create an object representing the testbench; the 4 AS5048 sensors
- * with the offsets specified by the constants kOffsetsDegrees[4]
- * @param mosi: mosi pin for sensor chain
- * @param miso: miso pin for sensor chain
- * @param sck: clock pin for sensor chain
- * @param cs: chip select pin for sensor chain
+ * Create an object representing the test rig
+ * @param mosi: mosi pin for sensor chain (SPI angle sensors)
+ * @param miso: miso pin for sensor chain (SPI angle sensors)
+ * @param sck: clock pin for sensor chain (SPI angle sensors)
+ * @param cs: chip select pin for sensor chain (SPI angle sensors)
  * @param use5kNLoadCell: if 5kN load cell is used (if false, 1kN sensor is used)
  * @param p_lcm101: analog input pin for load cell
  * @param p_spte0: analog input pin for pressure sensor 0
@@ -64,13 +63,14 @@
 
 /**
  * Initialises: timers, SD card
+ * Prints a welcome message and information on the logging frequency and sensor
+ * reading rate
  */
 void Bench::initialise()
 {
     //setup the timing
     tick_update.attach_us(this,&Bench::update,timing::kTimeControlUs);
-    
-        
+            
     // set rate at which data is printed
     tick_serial.attach_us(this,&Bench::PrintStatus,timing::kTimeSerialPrintUs);
      
@@ -152,10 +152,10 @@
 // = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =
 
 /**
- * Update routine for the testbench.
+ * Update routine for the test rig
  * - Updates the angle buffer of the sensor array
  * - ... that's it for now (add filtering?)
- * Note that angles lag one Update() behind, due to the way the SPI
+ * Note that angles lag one update() behind, due to the way the SPI
  * protocol works.
  */
 void Bench::update() 
@@ -164,7 +164,7 @@
 }
 
 /**
- * Obtain the joint angle in degrees.
+ * Obtain the joint angle in degrees
  * These are the angles at the time of two Update() calls back
  * @param joint: the joint for which the angle is requested (as enumerated in 
  * class header - TOES, KNEE, ANKLE, HIP
@@ -176,7 +176,7 @@
 }
 
 /**
- * Obtain the joint angle in degrees.
+ * Obtain the joint angle in degrees
  * These are the angles at the time of two Update() calls back
  * @param joint: the joint for which the angle is requested (a number starting 
  * from 0 indicating the position in the sensor daisy chain)
@@ -192,7 +192,7 @@
 }
 
 /**
- * Obtain the joint angle in radians.
+ * Obtain the joint angle in radians
  * These are the angles at the time of two Update() calls back
  * @param joint: the joint for which the angle is requested (as enumerated in 
  * class header - TOES, KNEE, ANKLE, HIP
@@ -204,7 +204,7 @@
 }
 
 /**
- * Obtain the joint angle in radians.
+ * Obtain the joint angle in radians
  * These are the angles at the time of two Update() calls back
  * @param joint: the joint for which the angle is requested (a number starting 
  * from 0 indicating the position in the sensor daisy chain)
@@ -236,7 +236,7 @@
 }
 
 /**
- * The force applied vertically at the hip join in N.
+ * The force applied vertically at the hip joint in N
  * @return: force
  */
 float Bench::getForce() 
@@ -293,7 +293,7 @@
 }
 
 /**
- * The valve state (true is on/pressurising and false is off/depressurising)
+ * The valve state (true is on/pressurising and false is off/depressurising).
  * @return: valve state
  */
 bool Bench::getValve() {
@@ -306,7 +306,7 @@
 
 /**
  * Check contents of SD card and count files in order
- * to ensure unique file name for logging data
+ * to ensure unique file name for logging data.
  */
 void Bench::InitSdCard()
 {
@@ -346,7 +346,7 @@
 /**
  * Start logging data
  * param fname_append: a string describing the name appended to each logged file
- * (along with its unique loggging number)
+ * (along with its unique loggging number).
  */
 void Bench::StartLogging(const char * fname_append)
 {    
@@ -391,7 +391,7 @@
 
 
 /**
- * Stop logging data
+ * Stop logging data.
  */
 void Bench::StopLogging()
 {