Diff: Quadcopter.h

Revision:

5:2aa78a442132

Parent:

4:90ce5817667b

Child:

6:a6b8e508643d

--- a/Quadcopter.h	Fri Feb 20 00:11:00 2015 +0000
+++ b/Quadcopter.h	Fri Feb 20 00:28:52 2015 +0000
@@ -8,23 +8,43 @@
  
 class Quadcopter {
 public:
-    //constructor of the instance. FL correspond to Front_Left, FR to Front Right...
+    /**
+    * Constructor.
+    * 
+    * @param FL - Front Left motor.
+    * @param FR - Front Right motor.
+    * @param BL - Back Left motor.
+    * @param BR - Back Right motor.
+    *
+    */
     Quadcopter(PinName FL, PinName FR, PinName BL, PinName BR);
     
-    //function used to calibrate all 4 ESC before actually flying the copter
-    //it takes min and max values, which are in range from 0.0 to 1.0
-    //it does not matter which of inputs is min and which is max as function checks that itself
-    //If inputs are out of boundaries, min value becomes 0.0, and max value becomes 1.0 automatically
+    /**
+    * Function used to calibrate all 4 ESC before actually flying the quadcopter.
+    * It does not matter which of inputs is min and which is max as function checks that itself.
+    * If inputs are out of boundaries, min value becomes 0.0, and max value becomes 1.0 automatically
+    * 
+    * @param min - minimum value for the ESC in range from 0.0 to 1.0.
+    * @param max - maximum value for the ESC in range from 0.0 to 1.0.
+    */
     void calibrate (float min, float max);
     
-    //function for runing motors
-    //Function takes array of 4 variables, which corresponds to the speed for all 4 motors
-    //speeds are in range from 0.0 to 1.0
+    /**
+    * function for runing motors.
+    *
+    * @param speed - array of 4 variables, which corresponds to the speed for all 4 motors. speeds are in range from 0.0 to 1.0.
+    */
     void run (float* speed);
     
-    //function used calculate the speed at which each of the motors should run to be able to stabilise the quadcopter
-    //speed here is the current speed for each motor, actSpeed is the output speed at which motors should run
-    //rollDiff & pitchDiff are both calculated using PID library function PID::compute();
+    /**
+    * Function used to calculate the speed at which each of the motors should run to be able to stabilise the quadcopter.
+    * 
+    * @param speed - current speed for each motor.
+    * @param actSpeed - actual speed at which motors should run
+    * @param rollDiff - calculated using PID library function PID::compute();
+    * @param pitchDiff - calculated using PID library function PID::compute();
+    *
+    */
     void stabilise (float* speed, float* actSpeed, float rollDiff, float pitchDiff);
     
 private: