Revision 3:1afe0cfab2d1, committed 2013-08-22

Comitter:

ccoleman

Date:

Thu Aug 22 21:52:21 2013 +0000

Parent:

2:0a64af7ab7c6

Child:

4:4233d072b5af

Commit message:

More better documentation.

Changed in this revision

--- a/CarAPI.cpp	Thu Aug 22 21:48:25 2013 +0000
+++ b/CarAPI.cpp	Thu Aug 22 21:52:21 2013 +0000
@@ -13,17 +13,14 @@
 
 /******************************** Wheels and Motor ********************************/
 
-/* turn the car.  turnAngle should be between [-1,1] */
 void turn(float turnAngle){
     turn(0,turnAngle);
 }
 
-/** move forward with the given power, turn angle, for a specified time */
 void move(float power, float seconds){
     move (power,power,seconds);
 }
 
-/** move forward with the given powers for each wheel, turn angle, for a specified time */
 void move(float leftWheelPower,float rightWheelPower, float seconds){
     if(debug) pc.printf("move(%f,%f,%f)",leftWheelPower,rightWheelPower,seconds);
     TFC_SetMotorPWM(leftWheelPower,rightWheelPower); // power for n seconds with both wheels the same power
@@ -32,7 +29,6 @@
     wait(0.05); //need a wait to register or sebsequent calls to this method won't spin the wheel; hardware can't detect instaneous input?    
 }
 
-/** lock the wheels*/
 void parkingBrake(){
     if(debug) pc.printf("parkingBrake()");
     TFC_SetMotorPWM(0.1,0.1); //slight spinning of wheel
@@ -40,64 +36,51 @@
 }
 
 /******************************** INPUTS AND OUTPUTS ********************************/
-/** check to see if the car is crashing into something */
+
 bool checkIsCrashing(){
     if(debug) pc.printf("checkIsCrashing()");
     return abs(accelerometer.getAccX()) >= crashSensitivity;
 }
 
-/** Return the line direction
-    line to the left of center. return [-1,0
-    line to the right of center. return (0,1]
-    line in center. return 0
-*/
 float lineDirection(){
     return 0;
 }
 
-/* toggle led 0 */
 void toggleLED0(){
     if(debug) pc.printf("toggleLED0()");
     TFC_BAT_LED0_TOGGLE;    
 }
 
-/* toggle led 1 */
 void toggleLED1(){
     if(debug) pc.printf("toggleLED1()");
     TFC_BAT_LED1_TOGGLE;    
 }
 
-/* toggle led 2 */
 void toggleLED2(){
     if(debug) pc.printf("toggleLED2()");
     TFC_BAT_LED2_TOGGLE;    
 }
 
-/* toggle led 3 */
 void toggleLED3(){
     if(debug) pc.printf("toggleLED3()");
     TFC_BAT_LED3_TOGGLE;    
 }
 
-/** is Button B pressed */
 bool isButtonBPressed(){
     if(debug) pc.printf("isButtonBPressed()=",TFC_PUSH_BUTTON_1_PRESSED);
     return TFC_PUSH_BUTTON_1_PRESSED;
 }
 
-/** read Potentiometer 0. returns [-1,1] */
 float getPot0(){
     if(debug) pc.printf("getPot0()= %f", TFC_ReadPot(0));
     return TFC_ReadPot(0);
 }
 
-/** read Potentiometer 1. returns  [-1,1] */
 float getPot1(){
     if(debug) pc.printf("getPot1()= %f", TFC_ReadPot(1));
     return TFC_ReadPot(1);
 }
 
-/** How much batter remains. returns  [0,1] */
 float batteryLife(){
     if(debug) pc.printf("batteryLife()= %f", TFC_ReadBatteryVoltage());
     return TFC_ReadBatteryVoltage();
@@ -105,31 +88,26 @@
 
 /******************************** Changing Variables ********************************/
 
-/** set the base turn offset*/
 void setOffset(float _turnOffset){
     if(debug) pc.printf("setOffset()= %f", _turnOffset);
     turnOffset = _turnOffset;
 }
 
-/** get the base turn offset */
 float getOffset(){
     if(debug) pc.printf("getOffset()= %f", turnOffset);
     return turnOffset;
 }
 
-/** set the base crash sensitivity*/
 void setCrashSensitivity(float _sensitivity){
     if(debug) pc.printf("setCrashSensitivity()= %f", _sensitivity);
     crashSensitivity = _sensitivity;
 }
 
-/** return the crash sensitivity */
 float getCrashSensitivity(){
     if(debug) pc.printf("getCrashSensitivity()= %f", crashSensitivity);
     return crashSensitivity;
 }
 
-/** turn on debugging*/
 void setDebug(bool _debug){
     if(debug) pc.printf("setDebug()= %d", _debug);
     debug = _debug;