Diff: LidarLitev2.h

Revision:

1:238f6a0108e7

Parent:

0:7e6c07be1754

Child:

2:b0deebd36eb3

--- a/LidarLitev2.h	Thu Oct 22 18:52:54 2015 +0000
+++ b/LidarLitev2.h	Thu Oct 22 23:49:53 2015 +0000
@@ -1,25 +1,59 @@
 #ifndef LidarLitev2_H
-#define LidarLitev2_H 
+#define LidarLitev2_H
 
 
 #include "mbed.h"
 
+/** My LidarLite class
+*   Used for controlling and interacting with the LidarLitev2
+Example:
+*   @code
+*   //Measures distance from the lidarlite and prints it through serial
+*   #include "LidarLitev2.h"
+*   LidarLitev2 Lidar(p28, p27);
+*   Serial pc(USBTX,USBRX);
+*
+*
+*       Timer dt;
+*   int main()
+*   {   
+*    
+*       pc.baud(115200);
+*       Lidar.configure();
+*       dt.start();
+*       while(1){
+*           pc.printf("distance = %d cm frequency = %.2f Hz\n", Lidar.distance(), 1/dt.read());
+*           dt.reset();
+*       }
+*   }
+*   @endcode
+*
+*
+*/
 
 class LidarLitev2
 {
 public:
     LidarLitev2(PinName sda, PinName scl, bool = true);  // Constructor iniates I2C setup
-    void configure(int = 0, int = 0xc4);   // Configure the mode and slave address 
+    
+    /** Configure the different modes of the Lidar */
+    void configure(int = 0, int = 0xc4);   // Configure the mode and slave address
+    
+    /** Sets the Lidar to read continuously, indicating its ready to be read from by the modepin pulling down,  a cerntain amount of times */
     void beginContinuous(bool = true, char = 0x04, char = 0xff, int = 0xc4); //Enable if using continous setup with mode from Lidar and pulldown
+    
+    
     int distance(bool = true, bool = true, int = 0xc4); //Calclulates distance through I2C protocol of activating sensor with a write, then a write for the register, and a read.
     // Returns distance as a integer in cm
+
     
-    int distanceContinuous(int = 0xc4); // 1.) Set Lidar circuit for continuous mode 
-                                        // 2.) utilize the beginContinous function and configure as desired
-                                        // This function returns distance without any need to activate the lidar senore through a write command,
-                                        // instead the mode pin pulls down when the lidar is ready for a read
+    int distanceContinuous(int = 0xc4); 
+    // 1.) Set Lidar circuit for continuous mode
+    // 2.) utilize the beginContinous function and configure as desired
+    // This function returns distance without any need to activate the lidar senore through a write command,
+    // instead the mode pin pulls down when the lidar is ready for a read
     // Returns distance as a integer in cm
-    
+
 private:
     // I2C Functions //
     ///////////////////