Diff: src/encoder.h

Revision:

5:44b2454a5eea

Parent:

3:4b6080e86761

Child:

6:ed47deb76adf

--- a/src/encoder.h	Mon May 31 16:47:02 2021 +0000
+++ b/src/encoder.h	Tue Jun 08 15:04:33 2021 +0000
@@ -1,19 +1,16 @@
+/**
+ * @file encoder.h
+ * This class is based upon the QEI class by Aaron Berk and the encoder class I wrote during ESP in 2nd year.
+ *
+ * @author Simon Krogedal
+ *
+ * @version 0.1
+ */
+
 #ifndef KARBOT_ENCODER_H
 #define KARBOT_ENCODER_H
 
-/* Karbot encoder class
- *
- * This class is based upon the QEI class by Aaron Berk and the encoder class
- * I wrote during ESP in 2nd year
- *
- * Written by Simon Krogedal
- * 27/05/21
- * Team 9 4th Year project
- * 
- * for NUCLEO-F401RE
- * 
- */
- 
+
 #include "mbed.h"
  
  
@@ -23,6 +20,24 @@
 //of rotation.
 #define INVALID   0x3 //XORing two states where both bits have changed.
 
+/** encoder Class
+ *
+ * Class for measeuring quadrature magnetic encoders requiring internal pullups
+ *
+ * @author Simon Krogedal
+ *
+ * Written by Simon Krogedal
+ *
+ * 27/05/2021
+ *
+ * Team 9 4th Year project
+ * 
+ *
+ * for NUCLEO-F401RE
+ * 
+ * @version 0.2
+ *
+ */
 class encoder {
     
     private:
@@ -51,23 +66,57 @@
 
     protected:
     
-        Ticker      sampler;                // ticker object to sample speed
-        double      period, enc_const;      // sampling period and wheel constant
-        void sample_func(void);             // sample function
-        double getClicks(void);             // returns clickrate
+        Ticker      sampler;                /// ticker object to sample speed
+        double      period, enc_const;      /// sampling period and wheel constant
+        
+        /// Sample function called by ticker object
+        void sample_func(void);
+        
+        /** Get wheel speed
+         * @returns Wheel speed in clicks/second
+         */
+        double getClicks(void);             /// returns clickrate
         
     public:
     
-        // Constructor takes 3 encoder input pins, CPR, left or right bool, sampling period, and a wheel-size constant
-        encoder(PinName chanA, PinName chanB, int CPR, bool c, double p, double ec);
+        /** Create an instance
+         *
+         * @param chanA Encoder channel A pin
+         * @param chanB Encoder channel B pin
+         * @param CPR Encoder clicks per revolution
+         * @param c Boolean flag to invert speeds, used to correct for left and right motors
+         * @param p Sampling period of the wheel speed
+         * @note Too short samling period gives a noisy reading, too long and dynamics are lost
+         * @param diameter Wheel diameter
+         */
+        encoder(PinName chanA, PinName chanB, int CPR, bool c, double p, double diameter);
+        
+        /** Get wheel speed
+         * @returns Wheel speed in meters/second
+         */
+        double getSpeed(void);
         
-        double getSpeed(void);      // returns wheel speed
-        double getDistance(void);   // returns distance travelled
-        double tempDist(void);      // returns distance travelled
-        void distRst(void);         // resets distance
-        void tempRst(void);         // resets distance
-        void start(void);           // starts recording distance
-        void reset(void);           // resets counting
+        /** Get distance travelled
+         * @returns Distance travelled in meters
+         */
+        double getDistance(void);
+        
+        /** Get distance travelled
+         * @returns Distance travelled in meters since last reset
+         */
+        double tempDist(void);
+        
+        /// Reset distance measurement
+        void distRst(void);
+        
+        /// Reset distance measurement
+        void tempRst(void);
+        
+        /// Start encoder reading
+        void start(void);
+        
+        /// Stop encoder reading
+        void reset(void);
         
         /**
          * Read the state of the encoder.