Christian Burri / Mbed 2 deprecated autonomous Robot Android

This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf

Dependencies:   mbed

Fork of autonomous Robot Android by Christian Burri

Diff: Actuators/MaxonESCON.h

Revision:
6:48eeb41188dd
Parent:
3:92ba0254af87
Child:
11:775ebb69d5e1
--- a/Actuators/MaxonESCON.h	Thu Mar 21 08:56:53 2013 +0000
+++ b/Actuators/MaxonESCON.h	Sat Mar 23 13:52:48 2013 +0000
@@ -42,12 +42,12 @@
 public:
 
     /** Create a motor control object.
-       * @param enb DigitalOut, set high for enable
-       * @param isenb DigitalIn, high for enable
-       * @param pwm PwmOut pin, set the velocity
-       * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor
-       * @param hall The object of the hallsensor from Motor
-       */
+     * @param enb DigitalOut, set high for enable
+     * @param isenb DigitalIn, high for enable
+     * @param pwm PwmOut pin, set the velocity
+     * @param actualSpeed AnalogIn filtered signal for ActualSpeed from Motor
+     * @param hall The object of the hallsensor from Motor
+     */
     MaxonESCON(PinName enb,
                PinName isenb,
                PinName pwm,
@@ -55,42 +55,43 @@
                Hallsensor *hall);
 
     /** Set the speed of the motor with a pwm for 10%..90%.
-    * 50% PWM is 0rpm.
-    * Caclulate from [1/s] in [1/min] and the Factor of the ESCON.
-    * @param speed The speed of the motor as a normalised value, given in [1/s]
-    */
+     * 50% PWM is 0rpm.
+     * Caclulate from [1/s] in [1/min] and the Factor of the ESCON.
+     * @param speed The speed of the motor as a normalised value, given in [1/s]
+     */
     void setVelocity(float speed);
 
     /**Return the speed from ESCON.
-    * 0 rpm is defined in the Analog input as 1.65V
-    * @return speed of the motor, given in [1/s]
-    */
+     * 0 rpm is defined in the Analog input as 1.65V
+     * @return speed of the motor, given in [1/s]
+     */
     float getActualSpeed(void);
 
     /** Set the period of the pwm duty cycle.
-    * Wrapper for PwmOut::period()
-    * @param period Pwm duty cycle, given in [s].
-    */
+     * Wrapper for PwmOut::period()
+     * @param period Pwm duty cycle, given in [s].
+     */
     void period(float period);
 
     /** Set the Motor to a enable sate.
-    * @param enb <code>false</code> for disable <code>true</code> for enable.
-    */
+     * @param enb <code>false</code> for disable <code>true</code> for enable.
+     */
     void enable(bool enb);
 
     /**Tests if the servo drive is enabled.
-    * @return <code>true</code> if the drive is enabled, <code>false</code> otherwise.
-    */
+     * @return <code>true</code> if the drive is enabled, 
+     * <code>false</code> otherwise.
+     */
     bool isEnabled(void);
 
     /** Return the number of Pulses.
-    * @return Pulses, given in [count]
-    */
+     * @return Pulses, given in [count]
+     */
     int getPulses(void);
 
     /** Set the Pulses of the Motor, given in [count]
-    * @return Pulses, given in [count]
-    */
+     * @return Pulses, given in [count]
+     */
     int setPulses(int setPos);
 };