methods documentation

DifferentialSteering.cpp

@@ -1,14 +1,30 @@
 #include "DifferentialSteering.h"
 
+/**
+ *  Constructor class.
+ */
 DifferentialSteering::DifferentialSteering() {
     m_leftMotor = 0;
     m_rightMotor = 0;
 }
 
+/**
+ * Initialize the threshold at which the pivot action starts.
+ *
+ * @param fPivYLimit: Threshold. Is measured in units on the Y-axis away from the X-axis (Y=0).
+ *                    A greater value will assign more of the joystick's range to pivot actions.
+ *                    Allowable range: (0..+127).
+ */
 void DifferentialSteering::begin(int fPivYLimit) {
     m_fPivYLimit = fPivYLimit;
 }
 
+/**
+ * Compute differential steering from (x,y) values.
+ *
+ * @param XValue: X value in [-127, 127] range.
+ * @param YValue: Y value in [-127, 127] range.
+ */
 void DifferentialSteering::computeMotors(int XValue, int YValue) {
     float   nMotPremixL = 0;    // Motor (left)  premixed output        (-127..+127)
     float   nMotPremixR = 0;    // Motor (right) premixed output        (-127..+127)
@@ -41,17 +57,38 @@ void DifferentialSteering::computeMotors(int XValue, int YValue) {
     m_rightMotor = (1.0 - fPivScale) * nMotPremixR + fPivScale * (-nPivSpeed);
 }
 
+/*
+ * Returns the value of the left motor computed in computeMotors method.
+ *
+ * @return left computed motor, in [-127, 127] range.
+ */
 int DifferentialSteering::computedLeftMotor() {
     return m_leftMotor;
 }
+
+/*
+ * Returns the value of the right motor computed in computeMotors method.
+ *
+ * @return right computed motor, in [-127, 127] range.
+ */
 int DifferentialSteering::computedRightMotor() {
     return m_rightMotor;
 }
 
+/**
+ * Return the compute range used in the computeMotors method.
+ * 
+ * @return the compute range.
+ */
 int DifferentialSteering::getComputeRange() {
     return COMPUTERANGE;
 }
 
+/*
+ * Returns information about current computed motors and pivot threshold.
+ * 
+ * @return a string with the information.
+ */
 String DifferentialSteering::toString() {
     String str = "";
     return (str + "Pivot threshold: " + m_fPivYLimit + " | Left Motor: " + m_leftMotor + " | Right Motor: " + m_rightMotor);

DifferentialSteering.h

@@ -8,11 +8,6 @@
 class DifferentialSteering
 {
     private:
-        // - fPivYLimt  : The threshold at which the pivot action starts
-        //                This threshold is measured in units on the Y-axis
-        //                away from the X-axis (Y=0). A greater value will assign
-        //                more of the joystick's range to pivot actions.
-        //                Allowable range: (0..+127)
         int m_fPivYLimit;
         int m_leftMotor;
         int m_rightMotor;