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servo: Improved documentation for servo

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Signed-off-by: Sarah Knepper <sarah.knepper@intel.com>
This commit is contained in:
Sarah Knepper 2015-01-22 20:07:19 -08:00
parent 2886e6946f
commit d9cc2812c4
1 changed files with 27 additions and 23 deletions
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50
src/servo/servo.h
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@ -36,13 +36,18 @@ namespace upm {
#define LOW 0 #define LOW 0
/** /**
* @brief servo libraries * @brief C++ API for servo libraries
*
* The base class Servo provides routines for setting the angle of the shaft
* as well as setting and getting the minimum and maximum pulse width and
* the maximum period.
*
* @defgroup servo libupm-servo * @defgroup servo libupm-servo
*/ */
class Servo { class Servo {
public: public:
/** /**
* Instanciates a servo object * Instantiates a servo object
* *
* @param pin servo pin number * @param pin servo pin number
*/ */
@ -54,24 +59,17 @@ class Servo {
~Servo(); ~Servo();
/** /**
* Set the of the servo engine. * Set the angle of the servo engine.
*
* X = between (MIN_PULSE_WIDTH , MAX_PULSE_WIDTH)
*
* X usec
* _______
* |_______________________________________
* 20000 usec
*
* Max period can be only 7968750(nses) which is ~8(msec)
* so the servo will not work as expected.
* *
* @param angle number between 0 and 180 * @param angle number between 0 and 180
* @return 0 on success; non-zero otherwise
*/ */
mraa_result_t setAngle (int angle); mraa_result_t setAngle (int angle);
/** /**
* Return name of the component * Return name of the component
*
* @return name of the component
*/ */
std::string name() std::string name()
{ {
@ -79,38 +77,44 @@ class Servo {
} }
/** /**
* Set min pulse width * Set minimum pulse width
* *
* @param width HIGH signal width * @param width minimum HIGH signal width
*/ */
void setMinPulseWidth (int width); void setMinPulseWidth (int width);
/** /**
* Set max pulse width * Set maximum pulse width
* *
* @param width HIGH signal width * @param width maximum HIGH signal width
*/ */
void setMaxPulseWidth (int width); void setMaxPulseWidth (int width);
/** /**
* Set max period width * Set maximum period width
* *
* @param width PWM period width * @param width maximum PWM period width
*/ */
void setMaxPeriod (int width); void setMaxPeriod (int width);
/** /**
* Return min pulse width * Return minimum pulse width
*
* @return minimum pulse width
*/ */
int getMinPulseWidth (); int getMinPulseWidth ();
/** /**
* Return max pulse width * Return maximum pulse width
*
* @return maximum pulse width
*/ */
int getMaxPulseWidth (); int getMaxPulseWidth ();
/** /**
* Return max PWM period width * Return maximum PWM period width
*
* @return maximum PWM period width
*/ */
int getMaxPeriod (); int getMaxPeriod ();
@ -120,7 +124,7 @@ class Servo {
std::string m_name; std::string m_name;
int m_servoPin; int m_servoPin;
float m_maxAngle; float m_maxAngle;
mraa_pwm_context m_pwmServoContext; mraa_pwm_context m_pwmServoContext;
int m_currAngle; int m_currAngle;
int m_minPulseWidth; int m_minPulseWidth;