Diff: MD25.h

Revision:

1:8046f460a725

Parent:

0:e7f4a9247af2

Child:

2:e575d390c730

diff -r e7f4a9247af2 -r 8046f460a725 MD25.h
--- a/MD25.h	Thu May 19 12:42:06 2011 +0000
+++ b/MD25.h	Fri May 20 21:18:59 2011 +0000
@@ -1,5 +1,5 @@
 // ***********************************************************************
-// Class to control the MD25 Motor Controller.
+// MBED MD25 H-bridge Motor Controller.
 //
 // Based on Arduino code by Richie Reynolds
 // ***********************************************************************
@@ -73,33 +73,91 @@
      */
     MD25(PinName sda, PinName scl);
 
-    int32_t getEncoder1();
-    int32_t getEncoder2();
+    /** Read encoder for channel 1
+     *
+     * @return   32-bit signed integer value of current encoder value for channel 1
+     */
+    int32_t getEncoder1(void);
+    
+    /** Read encoder for channel 2
+     *
+     * @return   32-bit signed integer value of current encoder value for channel 2
+     */
+    int32_t getEncoder2(void);
+
+    /** set speed registers for both channels
+     *
+     * Effect of value is dependent on system mode
+     *
+     * @param   speed_1   speed register for channel 1  (0->255)
+     * @param   speed_2   speed register for channel 2  (0->255)
+     */    
+    void setSpeedRegisters(uint8_t speed_1, uint8_t speed_2);    
+    
+    /** set speed register for  channel 1
+     *
+     * Effect of value is dependent on system mode
+     *
+     * @param   speed_1   speed register for channel 1  (0->255)
+     */        
     void setSpeed1Reg(uint8_t speed);
+    
+    /** set speed register for  channel 2
+     *
+     * Effect of value is dependent on system mode
+     *
+     * @param   speed_2   speed register for channel 2  (0->255)
+     */        
     void setSpeed2Reg(uint8_t speed);
-    void stopMotor1();
-    void stopMotor2();
-    void stopMotors();
-    uint32_t getSoftwareVersion();
-    float getBatteryVolts();
-    uint8_t getAccelerationRate();
-    uint8_t getMotor1Current();
-    uint8_t getMotor2Current();
-    uint8_t getMotor1Speed();
-    uint8_t getMotor2Speed();
-    uint8_t getMode();
+    
+    /** switch motor 1 off
+     */        
+    void stopMotor1(void);
+    
+    /** switch motor 2 off
+     */        
+    void stopMotor2(void);
+          
+    /** switch both motors off
+     */
+    void stopMotors(void);
+    
+    /** read current software version
+     *
+     * @return   version number
+     */    
+    uint32_t getSoftwareVersion(void);
+    
+    /** read battery voltage
+     *
+     * Actual voltage = (10 * value)
+     *
+     * @return   voltage value in units of 0.1v
+     */        
+    float getBatteryVolts(void);
+    
+    /** read acceleration rate
+     *
+     * @return   acceleration rate
+     */          
+    uint8_t getAccelerationRate(void);
+    
+    uint8_t getMotor1Current(void);
+    uint8_t getMotor2Current(void);
+    uint8_t getMotor1Speed(void);
+    uint8_t getMotor2Speed(void);
+    uint8_t getMode(void);
     void setMode(uint8_t mode);
     void setAccelerationRate(uint8_t rate);
-    void setSpeedRegisters(uint8_t speed_1, uint8_t speed_2);
     void setCommand(uint8_t command);
 
 private:
-    I2C      _i2c;
-    uint8_t  current_mode;
+    I2C       _i2c;
+    uint8_t   current_mode;
     uint8_t   MD25_i2cAddress;
 
-    uint8_t readRegisterbyte(uint8_t reg);
-    void writeRegisterbyte(uint8_t reg, uint8_t value);
+    uint8_t   readRegisterbyte(uint8_t reg);
+    void      writeRegisterbyte(uint8_t reg, uint8_t value);
 };
 
 #endif // MBED_md25_h