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docs: header files for sensors starting with [a] reviewed.

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Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
This commit is contained in:
VadimPopov
2015-08-07 20:33:46 +03:00
committed by Mihai Tudor Panu
parent de49bb0e42
commit 9db2d57de3
11 changed files with 359 additions and 328 deletions
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84
src/adafruitms1438/adafruitms1438.h
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@ -52,16 +52,16 @@ namespace upm {
* @web http://www.adafruit.com/products/1438
* @con i2c
*
* @brief API for the ADAFRUITMS1438 motor shield
* @brief API for the AdafruitMS1438 Motor Shield
*
* This class implements support for the stepper and DC motors that
* can be connected to this Motor Shield.
* NOTE: The two servo connections are not actually controlled by
* the pca9685 controller (or this class), rather they are connected
* directly to digital PWM pins 9 and 10 on the arduino breakout.
* Note: the two servo connections are not controlled by the PCA9685
* controller (or this class). They are connected directly to digital
* PWM pins 9 and 10 on the Arduino breakout board.
*
* @image html adafruitms1438.jpg
* An example using a DC motor conected to M3
* An example using a DC motor connected to M3
* @snippet adafruitms1438.cxx Interesting
* An example using a stepper motor connected to M1 & M2
* @snippet adafruitms1438-stepper.cxx Interesting
@ -89,7 +89,7 @@ namespace upm {
} DCMOTORS_T;
/**
* Enum to specify a Stepper motor
* Enum to specify a stepper motor
*/
typedef enum {
STEPMOTOR_M12 = 0,
@ -99,62 +99,62 @@ namespace upm {
/**
* AdafruitMS1438 constructor
*
* @param bus i2c bus to use
* @param address the address for this sensor
* @param bus I2C bus to use
* @param address Address for this sensor
*/
AdafruitMS1438(int bus, uint8_t address = ADAFRUITMS1438_DEFAULT_I2C_ADDR);
/**
* AdafruitMS1438 Destructor
* AdafruitMS1438 destructor
*/
~AdafruitMS1438();
/**
* Return the number of milliseconds elapsed since initClock(...)
* Returns the number of milliseconds elapsed since initClock(...)
* was last called.
*
* @return elapsed milliseconds
* @return Elapsed milliseconds
*/
uint32_t getMillis(STEPMOTORS_T motor);
/**
* Reset the Clock
* Resets the clock
*
*/
void initClock(STEPMOTORS_T motor);
/**
* Set the PWM period. Note this applies to all PWM channels.
* Sets the PWM period. Note: this applies to all PWM channels.
*
* @param hz set the PWM period
* @param hz Sets the PWM period
*/
void setPWMPeriod(float hz);
/**
* enable PWM output for a motor
* Enables PWM output for a motor
*
* @param motor the DC motor to enable
* @param motor DC motor to enable
*/
void enableMotor(DCMOTORS_T motor);
/**
* disable PWM output for a motor
* Disables PWM output for a motor
*
* @param motor the DC motor to disable
* @param motor DC motor to disable
*/
void disableMotor(DCMOTORS_T motor);
/**
* enable output for a stepper motor
* Enables output for a stepper motor
*
* @param motor the stepper motor to enable
* @param motor Stepper motor to enable
*/
void enableStepper(STEPMOTORS_T motor);
/**
* disable output for a stepper motor
* Disable output for a stepper motor
*
* @param motor the stepper motor to disable
* @param motor Stepper motor to disable
*/
void disableStepper(STEPMOTORS_T motor);
@ -168,57 +168,57 @@ namespace upm {
void setMotorSpeed(DCMOTORS_T motor, int speed);
/**
* set the speed of a stepper in revolution per minute (RPM)
* Sets the speed of a stepper in revolutions per minute (RPM)
*
* @param motor the DC motor to configure
* @param speed speed to set the motor to
* @param motor DC motor to configure
* @param speed Speed to set the motor to
*/
void setStepperSpeed(STEPMOTORS_T motor, int speed);
/**
* set the direction of a DC motor, clockwise or counter clockwise
* Sets the direction of a DC motor, clockwise or counterclockwise
*
* @param motor the DC motor to configure
* @param dir direction to set the motor to
* @param motor DC motor to configure
* @param dir Direction to set the motor in
*/
void setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir);
/**
* set the direction of a stepper motor, clockwise or counter clockwise
* Sets the direction of a stepper motor, clockwise or counterclockwise
*
* @param motor the stepper motor to configure
* @param dir direction to set the motor to
* @param motor Stepper motor to configure
* @param dir Direction to set the motor in
*/
void setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir);
/**
* set a stepper motor configuration
* Sets a stepper motor configuration
*
* @param motor the stepper motor to configure
* @param stepsPerRev the number of step to complete a full revolution
* @param motor Stepper motor to configure
* @param stepsPerRev Number of steps to complete a full revolution
*/
void stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev);
/**
* step a stepper motor a specified number of steps
* Steps a stepper motor a specified number of steps
*
* @param motor the stepper motor to step
* @param steps number of steps to move the stepper motor
* @param motor Stepper motor to step
* @param steps Number of steps to move the stepper motor
*/
void stepperSteps(STEPMOTORS_T motor, unsigned int steps);
private:
// SWIG will generate warning for these 'nested structs', however
// those can be ignored as these structs are never exposed.
// SWIG will generate a warning for these 'nested structs'; however,
// it can be ignored as these structs are never exposed.
// struct to hold mappings of the dc motors
// struct to hold mappings of DC motors
typedef struct {
int pwm;
int in1;
int in2;
} DC_PINMAP_T;
// struct to hold mappings of the stepper motors
// struct to hold mappings of stepper motors
typedef struct {
int pwmA;
int in1A;
@ -228,7 +228,7 @@ namespace upm {
int in2B;
} STEPPER_PINMAP_T;
// struct to hold some information about each stepper
// struct to hold information about each stepper
typedef struct {
int stepsPerRev; // steps per revolution
int currentStep; // current step number