Diff: BridgeDriver.h

Revision:

10:60c3d513b872

Parent:

9:00e8b7afb2c7

Child:

11:2481432a0988

--- a/BridgeDriver.h	Mon Jul 28 21:37:53 2014 +0000
+++ b/BridgeDriver.h	Mon Jul 28 21:42:37 2014 +0000
@@ -23,7 +23,7 @@
 #define LED_ADDR 0x4E //i2c address of button and LED port expander
 
 /** BridgeDriver class
- * For controlling the Test Controller bridges
+ * For controlling the Test Controller bridges.
  */
 class BridgeDriver{
      
@@ -66,21 +66,21 @@
         void enablePwm(uint8_t enPwmA, uint8_t enPwmB, uint8_t enPwmC, uint8_t enPwmD);
         
         /** Enables/disables PWM for a given channel pair
-         * @param motor Motor (channel pair) to enale/disable PWM
+         * @param motor Motor (channel pair) to enale/disable PWM.
          * @param enPwm 1 enables PWM on channel pair for motor control, 0 disables PWM on channel pair for solenoid control.
          */
         void enablePwm(Motors motor, uint8_t enPwm);
 
         /** Enables/disables braking for channel pairs
-         * @param enBrakeA 1 drives output to GND when off, 0 floats output when off
-         * @param enBrakeB 1 drives output to GND when off, 0 floats output when off         
-         * @param enBrakeC 1 drives output to GND when off, 0 floats output when off
-         * @param enBrakeD 1 drives output to GND when off, 0 floats output when off
+         * @param enBrakeA 1 drives output to GND when off, 0 floats output when off.
+         * @param enBrakeB 1 drives output to GND when off, 0 floats output when off.       
+         * @param enBrakeC 1 drives output to GND when off, 0 floats output when off.
+         * @param enBrakeD 1 drives output to GND when off, 0 floats output when off.
          */
         void enableBraking(uint8_t enBrakeA, uint8_t enBrakeB, uint8_t enBrakeC, uint8_t enBrakeD);
         
         /** Enables/disables braking for given channel pair
-         * @param enBrakeA 1 drives output to GND when off, 0 floats output when off
+         * @param enBrakeA 1 drives output to GND when off, 0 floats output when off.
          */
         void enableBraking(Motors motor, uint8_t enBrake);
         
@@ -88,8 +88,8 @@
          * Will fail if PWM is enabled on given channel. Use forceBrake(Motors motor) to force braking on channels with PWM enabled.
          * @param ch Channel to drive to GND
          * @return
-         *      0 on success
-         *      non 0 on failure
+         *      0 on success,
+         *      non 0 on failure.
          */
         int forceBrake(uint8_t ch);
         
@@ -97,8 +97,8 @@
          * Will fail if PWM is disabled on given channel. Use forceBrake(uint8_t ch) to force braking on channels with PWM disabled.
          * @param motor Motor (channel pair) to drive to GND
          * @return
-         *      0 on success
-         *      non 0 on failure
+         *      0 on success,
+         *      non 0 on failure.
          */
         int forceBrake(Motors motor);
         
@@ -106,8 +106,8 @@
          * Will float both channels of a motor (channel pair) if PWM is enabled for the channel.
          * @param ch Channel to float.
          * @return
-         *      0 on success
-         *      non 0 on failure
+         *      0 on success,
+         *      non 0 on failure.
          */
         int forceFloat(uint8_t ch);
         
@@ -115,65 +115,65 @@
          * Will fail if PWM is disabled on given channel. Use forceFloat(uint8_t ch) to force floating on channels with PWM disabled.
          * @param motor Motor (channel pair) to float.
          * @return
-         *      0 on success
-         *      non 0 on failure
+         *      0 on success,
+         *      non 0 on failure.
          */
         int forceFloat(Motors motor);
         
         /** Set all outputs with a single byte (bitwise control).
          * Will fail if PWM is enabled for any motor (channel pair).
          * @param state Sets all the outputs. Each bit controls one channel.
-         *      1 drives high
+         *      1 drives high,
          *      0 brakes (drives to GND) or floats depending on setting of enBrake.
          * @return
-         *      -1 on failure
-         *      0 if all outputs are set to 0
-         *      1 if any output is set to 1
+         *      -1 on failure,
+         *      0 if all outputs are set to 0,
+         *      1 if any output is set to 1.
          */
         int drive(uint8_t state);
         
         /** Set the output of one channel
          * @param ch Channel to set.
          * @param on State to set.
-         *      1 drives high
+         *      1 drives high,
          *      0 brakes (drives to GND) or floats depending on setting of enBrake.
          * @return
-         *      -1 on fauilure
-         *      0 if set to 0
-         *      1 if set to 1
+         *      -1 on fauilure,
+         *      0 if set to 0,
+         *      1 if set to 1.
          */
         int drive(uint8_t ch, uint8_t on);
         
         /** Control the speed of a motor
          * @param motor Motor (channel pair) to control.
-         * @param speed Speed to set motor to. Acceptable range: -1.0 to 1.0. Speed of 0.0 will coast or brake depending on setting of enBrake
+         * @param speed Speed to set motor to. Acceptable range: -1.0 to 1.0. Speed of 0.0 will coast or brake depending on setting of enBrake.
          * @return 
-         *      -1 on failure
-         *      speed of set output on success
+         *      -1 on failure,
+         *      speed of set output on success.
          */
         float drive(Motors motor, float speed);
         
         /** Control the speed of a motor
          * @param motor Motor (channel pair) to control.
-         * @param speed Speed to set motor to. Acceptable range: 0.0 to 1.0. Speed of 0.0 will coast or brake depending on setting of enBrake
+         * @param speed Speed to set motor to. Acceptable range: 0.0 to 1.0. Speed of 0.0 will coast or brake depending on setting of enBrake.
          * @param dir Set direction to drive motor.
-         *      1: forward
-         *      -1: reverse
-         *      0: brake, irregardless of setting of enBrake or speed
+         *      1: forward,
+         *      -1: reverse,
+         *      0: brake, irregardless of setting of enBrake or speed.
          * @return 
-         *      -1 on failure
-         *      speed of set output on success
+         *      -1 on failure,
+         *      speed of set output on success.
          */
         float drive(Motors motor, int8_t dir, float speed);
         
         
         /** Display diagnostic information on the LCD
-         * @param *lcd Pointer to TextLCD object to display info on
+         * @param *lcd Pointer to TextLCD object to display info on.
          */
         void diagnostic(TextLCD_I2C *lcd);
         
         /** Change the PWM period
-         * @param newPWMperiod The new PWM period. In seconds. System default is 0.0002 (5kHz)
+         * @param newPWMperiod The new PWM period. In seconds. System default is 0.0002 (5kHz).
          */
         void setPWMperiod(float newPWMperiod);