Diff: IBT2.h

Revision:

1:fe72c69ab361

Parent:

0:ea214158c2fb

diff -r ea214158c2fb -r fe72c69ab361 IBT2.h
--- a/IBT2.h	Fri Jul 31 20:05:31 2015 +0000
+++ b/IBT2.h	Fri Jul 31 20:30:06 2015 +0000
@@ -28,16 +28,19 @@
 /** Interface to the IBT-2 H-bridge motor controller
  *
  * Control a DC motor connected to the IBT-2 H-bridge using one of two modes:
+ *
  * Mode 1:
  *     2 PwmOuts and 1 DigitalOut
  *     - L_PWM controlled with a PwmOut
  *     - R_PWM controlled with a PwmOut
  *     - L_EN, R_EN connected to a DigitalOut (High is Enabled)
- * Mode 1:
- *     2 PwmOuts and 1 DigitalOut
- *     - L_PWM controlled with a PwmOut
- *     - R_PWM controlled with a PwmOut
- *     - L_EN, R_EN connected to a DigitalOut (High is Enabled)
+ *
+ * Mode 2:
+ *     1 PwmOut and 2 DigitalOuts
+ *     - L_PWM connected to a DigitalOut (High is Forward; keep R_PWM Low)
+ *     - R_PWM connected to a DigitalOut (High is Reverse; keep L_PWM Low)
+ *     - L_EN, R_EN controlled with a PwmOut
+ *
  * For now, only Mode 1 is used.
  */
 class IBT2 {
@@ -59,7 +62,7 @@
     
     /** Get the speed and direction of the motor
      * 
-     * @returns float The speed of the motor as a normalized value between -1.0 and 1.0. A positive value is forward and a negative value is reverse.
+     * @returns The speed of the motor as a normalized value between -1.0 and 1.0. A positive value is forward and a negative value is reverse.
      */
     float getSpeed(void);