Diff: Encoder.h

Revision:

1:2e39be3d2088

Parent:

0:1d2644a20b71

--- a/Encoder.h	Mon Nov 24 03:33:29 2014 +0000
+++ b/Encoder.h	Sat Mar 07 01:56:09 2015 +0000
@@ -18,19 +18,48 @@
     short int readRaw();
     // Functions
 private:
+    /**
+    * SPI bus for communicating with the encoder.
+    **/
     SPI _spi;
+    /**
+    * SPI chip select pin for communicating with the encoder.
+    **/
     DigitalOut _cs;
+    /**
+    *Calculates the parity of the input.
+    *@params x The message that you want to calculate the parity of.
+    *@returns A boolean variable that represents the parity of the message.
+    **/
     bool parity_calc(int x);
+    /**
+    *Sign variable used to flip the direction of the encoder if needed.  
+    **/
     int sign;
+    /**
+    *Reads the encoder, does parity check, and stores the error flag.
+    *@returns An unsigned integer which is the number of ticks away from the zero position.
+    **/
     int read();
+    /**
+    *The parity comparison of the previous transmission
+    **/
     bool parity;
+    /**
+    *The encoder flag of the previous transmission
+    **/
     bool enc_flag;
-    //zero_ang for standing position
+    /**
+    *Zero angle set point for standing position.
+    **/
     float zero_ang;
+    /**
+    *The raw angle from the encoder in encoder ticks.
+    **/
     short int raw;
-
-
-    // Variables
+    /**
+    *Used for translating from encoder ticks to degrees.
+    **/
     const float enc2deg;
 
 };