Mitchell Hatfield
/
BridgeDriver2
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Fork of
BridgeDriver
by 
Jason T
Revision 10:60c3d513b872, committed 2014-07-28
- Comitter:
- jason701802
- Date:
- Mon Jul 28 21:42:37 2014 +0000
- Parent:
- 9:00e8b7afb2c7
- Child:
- 11:2481432a0988
- Commit message:
- Updated documentation
Changed in this revision
| BridgeDriver.h | Show annotated file Show diff for this revision Revisions of this file |
--- 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);