Revision 5:8dde418f0d1e, committed 2013-08-23

Comitter:

ccoleman

Date:

Fri Aug 23 00:40:51 2013 +0000

Parent:

4:4233d072b5af

Child:

6:4b101f051a1f

Commit message:

Minor documentation edits.

Changed in this revision

--- a/CarAPI.cpp	Fri Aug 23 00:38:23 2013 +0000
+++ b/CarAPI.cpp	Fri Aug 23 00:40:51 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) utrace("move(%f,%f,%f)\r\n",leftWheelPower,rightWheelPower,seconds);
     TFC_SetMotorPWM(leftWheelPower,rightWheelPower); // power for n seconds with both wheels the same power
@@ -32,27 +29,24 @@
     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) utrace("parkingBrake()\r\n");
     TFC_SetMotorPWM(0.1,0.1); //slight spinning of wheel
     wait(0.1);
 }
 
-/** do nothing for the specified time */
 void sleep(float seconds){
     if(debug) utrace("sleep(%f)\r\n",seconds);
 }
 
 
 /******************************** INPUTS AND OUTPUTS ********************************/
-/** check to see if the car is crashing into something */
+
 bool checkIsCrashing(){
     if(debug) utrace("checkIsCrashing()\r\n");
     return abs(accelerometer.getAccX()) >= crashSensitivity;
 }
 
-/** check to see if the car has stopped */
 bool isStopped()
 {
     double x = accelerometer.getAccX();
@@ -64,60 +58,45 @@
     return 0;
 }
 
-
-
-/** 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) utrace("toggleLED0()\r\n");
     TFC_BAT_LED0_TOGGLE;    
 }
 
-/* toggle led 1 */
 void toggleLED1(){
     if(debug) utrace("toggleLED1()\r\n");
     TFC_BAT_LED1_TOGGLE;    
 }
 
-/* toggle led 2 */
 void toggleLED2(){
     if(debug) utrace("toggleLED2()\r\n");
     TFC_BAT_LED2_TOGGLE;    
 }
 
-/* toggle led 3 */
 void toggleLED3(){
     if(debug) utrace("toggleLED3()\r\n");
     TFC_BAT_LED3_TOGGLE;    
 }
 
-/** is Button B pressed */
 bool isButtonBPressed(){
     if(debug) utrace("isButtonBPressed()=%d\r\n",TFC_PUSH_BUTTON_1_PRESSED);
     return TFC_PUSH_BUTTON_1_PRESSED;
 }
 
-/** read Potentiometer 0. returns [-1,1] */
 float getPot0(){
     if(debug) utrace("getPot0()= %f\r\n", TFC_ReadPot(0));
     return TFC_ReadPot(0);
 }
 
-/** read Potentiometer 1. returns  [-1,1] */
 float getPot1(){
     if(debug) utrace("getPot1()= %f\r\n", TFC_ReadPot(1));
     return TFC_ReadPot(1);
 }
 
-/** How much batter remains. returns  [0,1] */
 float batteryLife(){
     if(debug) utrace("batteryLife()= %f\r\n", TFC_ReadBatteryVoltage());
     return TFC_ReadBatteryVoltage();
@@ -125,43 +104,36 @@
 
 /******************************** Changing Variables ********************************/
 
-/** set the base turn offset*/
 void setOffset(float _turnOffset){
     if(debug) utrace("setOffset(%f)\r\n", _turnOffset);
     turnOffset = _turnOffset;
 }
 
-/** get the base turn offset */
 float getOffset(){
     if(debug) utrace("getOffset()= %f\r\n", turnOffset);
     return turnOffset;
 }
 
-/** set the base crash sensitivity*/
 void setCrashSensitivity(float _sensitivity){
     if(debug) utrace("setCrashSensitivity(%f)\r\n", _sensitivity);
     crashSensitivity = _sensitivity;
 }
 
-/** return the crash sensitivity */
 float getCrashSensitivity(){
     if(debug) utrace("getCrashSensitivity()= %f\r\n", crashSensitivity);
     return crashSensitivity;
 }
 
-/** set the base stop sensitivity*/
 void setStopSensitivity(float _sensitivity){
     if(debug) utrace("setStopSensitivity(%f)\r\n", _sensitivity);
     stopSensitivity = _sensitivity;
 }
 
-/** return the stop sensitivity */
 float getStopSensitivity(){
     if(debug) utrace("getStopSensitivity()= %f\r\n", stopSensitivity);
     return stopSensitivity;
 }
 
-/** turn on debugging*/
 void setDebug(bool _debug){
     if(debug) utrace("setDebug()= %d\r\n", _debug);
     debug = _debug;