Mario Bambagini / Mbed 2 deprecated car_chassis

car chassis

Dependencies:   Servo mbed-rtos mbed

Diff: engine.hpp

Revision:
2:7dfc8dd6aab3
Parent:
1:79b1ee0f97ef
--- a/engine.hpp	Mon Aug 31 22:25:57 2015 +0000
+++ b/engine.hpp	Thu Oct 08 13:36:17 2015 +0000
@@ -1,8 +1,25 @@
 #ifndef __ENGINE_HPP__
 #define __ENGINE_HPP__
 
+/**
+ * Initialization of the engine component:
+ * - main engine
+ * - steering motor
+ */
 void init_engine();
 
+/**
+ * The thread executes periodically:
+ * - check inputs: if no message has arrived for 2.5 seconds, switch the
+ *   actuators off
+ * - actuation:
+ *   - rotate steering servo motor
+ *   - main engine:
+ *     - if the driver is breaking, block the motor for no more than 1 seconds
+ *       (while breaking the engine dissipates much power)
+ *     - otherwise, set direction and set the current which flows into the 
+ *       motor
+ */
 void thread_engine (void const *args);
 
 #endif //__ENGINE_HPP__