Revision 1:b4d202b471ae, committed 2010-10-13

Comitter:

gtg795y

Date:

Wed Oct 13 03:18:54 2010 +0000

Parent:

0:fc95840345e8

Commit message:

Changed in this revision

--- a/Robot.h	Tue Oct 12 20:51:08 2010 +0000
+++ b/Robot.h	Wed Oct 13 03:18:54 2010 +0000
@@ -23,23 +23,67 @@
 #define RATE 0.05
 #define DPP  14.2 //Pulses per degree of motor rotation
 
+/**
+ * Robot class.
+ */
 
 class Robot {
 public:
+    /**
+    * Constructor
+    */    
     Robot();
+    /**
+    * Destructor
+    */  
     virtual ~Robot();
+    /**
+    * Move Straight
+    * @param s  speed between -1.0 and 1.0
+    * @param clix Number of pulses to move
+    */  
     void    MoveStraightPulses(float s, int clix);
+    /**
+    * Move Straight
+    * @param speed  speed between -1.0 and 1.0
+    * @param in Number of inches to move
+    */  
     void    MoveStraightInches(float speed, float in);
+    /**
+    * Move Straight
+    * @param seed  speed between -1.0 and 1.0
+    * @param rotations Number of wheel rotations to move
+    */  
     void    MoveStraightRotations(float speed, float rotations);
-
+    /**
+    * Stop Left Wheel
+    */  
     void    StopLeft();
+    /**
+    * Stop Right Wheel
+    */  
     void    StopRight();
+    /**
+    * Stop
+    */  
     void    Stop();
-
+    /**
+    * Pivet left
+    * @param deg degrees
+    */  
     void    PivetLeft(float deg);
+    /**
+    * Pivet right
+    * @param deg degrees
+    */  
     void    PivetRight(float deg);
     void    RotateLeftWheel(float rpm, float deg);     //Rotate Wheel <deg> Degrees
     void    RotateRightWheel(float rpm, float deg);    //Rotate Wheel <deg> Degrees
+    /**
+    * Returns 0 if robot is not moving
+    * Returns 1 otherwise
+    * @returns flat
+    */  
     int     IsBusy();
 
 
@@ -51,6 +95,9 @@
     PID     *leftPid;
     PID     *rightPid;
     Serial  *pc;
+    /**
+    * Ticker function
+    */  
     void    Call();
 
 private: