Diff: motor.h

Revision:

2:df0c6af898ac

Parent:

0:caa8ee3bd882

Child:

7:b9a209f889f5

--- a/motor.h	Sun Nov 12 12:05:22 2017 +0000
+++ b/motor.h	Sun Nov 12 14:06:23 2017 +0000
@@ -4,39 +4,66 @@
 #include "FastPWM.h"
 #include "QEI.h"
 
+// Very high-frequency PWM signal so as to cut out noise.
 #define PWM_PERIOD_US 10
 
+/**
+ * MOTOR CLASS
+ * The D-action is used on a moving average filtered version of the error that
+ * is put in, against (numerical) noise.
+ *
+ * __implementation can be found in main.cpp__
+ */
 class Motor
 {
 public:
+    /**
+     * Constructor
+     */
     Motor(PinName pwm, PinName dir, PinName enc_a, PinName enc_b,
-          int pulses_per_rev, bool invert_dir = false) :
+          int pulses_per_rev, bool invert_dir = false)
+        :
         encoder_(enc_a, enc_b, NC, NULL, QEI::X4_ENCODING),
         dir_(dir),
         speed_(pwm),
         kPulsesPerRev_(pulses_per_rev),
-        kInvertDir_(invert_dir) 
+        kInvertDir_(invert_dir)
     {
         Stop();
         offset_ = 0;
         speed_.period_us(PWM_PERIOD_US);
     }
 
+    /**
+     * Turn off motor
+     */
     void Stop() {
         power_ = false;
         dir_=0;
         speed_=0;
     }
 
+    /**
+     * Start motor
+     */
     void Start() {
         power_ = true;
     }
 
+    /**
+     * Is the motor allowed to move?
+     */
     bool has_power() {
         return power_;
     }
 
+    /**
+     * Apply PWM value in [-1,1] to motor
+     * Direction changes accordingly
+     * Only has effect when this.has_power()
+     */
     void set_pwm(double pwm) {
+        // only when allowed
         if (power_) {
             if (pwm<0) {
                 dir_ = kInvertDir_;
@@ -51,28 +78,42 @@
         }
     }
 
+    /**
+     * Get motor angle [deg]
+     */
     double get_angle() {
         return offset_ + 360.0 * ((double)get_pulses()) / kPulsesPerRev_;
     }
 
+    /**
+     * Set the current motor angle to a given value [deg] (stored in offset)
+     */
     void set_angle(double angle) {
         offset_ = angle - 360.0 * ((double)get_pulses()) / kPulsesPerRev_;
     }
 
 private:
 
+    // Encoder, direction pin, pwm pin
     QEI encoder_;
     DigitalOut dir_;
     FastPWM speed_;
+
+    // encoder/gear box constants
     const int kPulsesPerRev_;
     const bool kInvertDir_;
+
+    // allowed to move
     bool power_;
+
+    // internal offset s.t. the angle can be set.
     double offset_;
 
+    // get encoder pulses; only for internal use
     int get_pulses() {
         return kInvertDir_?-encoder_.getPulses():encoder_.getPulses();
     }
 
 };
 
-#endif
\ No newline at end of file
+#endif