Moved C++ comments from source files to headers (#1111)

Also sorted functions in C++ sources to match order in related headers.

hal/src/main/native/athena/FPGAEncoder.cpp

@@ -102,10 +102,6 @@ void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
   fpgaEncoderHandles->Free(fpgaEncoderHandle);
 }
 
-/**
- * Reset the Encoder distance to zero.
- * Resets the current count to zero on the encoder.
- */
 void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
                           int32_t* status) {
   auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -116,12 +112,6 @@ void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
   encoder->encoder->strobeReset(status);
 }
 
-/**
- * Gets the fpga value from the encoder.
- * The fpga value is the actual count unscaled by the 1x, 2x, or 4x scale
- * factor.
- * @return Current fpga count from the encoder
- */
 int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
                            int32_t* status) {
   auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -132,16 +122,6 @@ int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
   return encoder->encoder->readOutput_Value(status);
 }
 
-/**
- * Returns the period of the most recent pulse.
- * Returns the period of the most recent Encoder pulse in seconds.
- * This method compenstates for the decoding type.
- *
- * @deprecated Use GetRate() in favor of this method.  This returns unscaled
- * periods and GetRate() scales using value from SetDistancePerPulse().
- *
- * @return Period in seconds of the most recent pulse.
- */
 double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
                                 int32_t* status) {
   auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -165,20 +145,6 @@ double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
   return measuredPeriod / DECODING_SCALING_FACTOR;
 }
 
-/**
- * Sets the maximum period for stopped detection.
- * Sets the value that represents the maximum period of the Encoder before it
- * will assume that the attached device is stopped. This timeout allows users
- * to determine if the wheels or other shaft has stopped rotating.
- * This method compensates for the decoding type.
- *
- * @deprecated Use SetMinRate() in favor of this method.  This takes unscaled
- * periods and SetMinRate() scales using value from SetDistancePerPulse().
- *
- * @param maxPeriod The maximum time between rising and falling edges before the
- * FPGA will
- * report the device stopped. This is expressed in seconds.
- */
 void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
                                  double maxPeriod, int32_t* status) {
   auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -191,13 +157,6 @@ void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle,
       status);
 }
 
-/**
- * Determine if the encoder is stopped.
- * Using the MaxPeriod value, a boolean is returned that is true if the encoder
- * is considered stopped and false if it is still moving. A stopped encoder is
- * one where the most recent pulse width exceeds the MaxPeriod.
- * @return True if the encoder is considered stopped.
- */
 HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle,
                                    int32_t* status) {
   auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -208,10 +167,6 @@ HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle,
   return encoder->encoder->readTimerOutput_Stalled(status) != 0;
 }
 
-/**
- * The last direction the encoder value changed.
- * @return The last direction the encoder value changed.
- */
 HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
                                      int32_t* status) {
   auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -222,12 +177,6 @@ HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
   return encoder->encoder->readOutput_Direction(status);
 }
 
-/**
- * Set the direction sensing for this encoder.
- * This sets the direction sensing on the encoder so that it could count in the
- * correct software direction regardless of the mounting.
- * @param reverseDirection true if the encoder direction should be reversed
- */
 void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
                                         HAL_Bool reverseDirection,
                                         int32_t* status) {
@@ -239,12 +188,6 @@ void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle,
   encoder->encoder->writeConfig_Reverse(reverseDirection, status);
 }
 
-/**
- * Set the Samples to Average which specifies the number of samples of the timer
- * to average when calculating the period. Perform averaging to account for
- * mechanical imperfections or as oversampling to increase resolution.
- * @param samplesToAverage The number of samples to average from 1 to 127.
- */
 void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle,
                                         int32_t samplesToAverage,
                                         int32_t* status) {
@@ -259,12 +202,6 @@ void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle,
   encoder->encoder->writeTimerConfig_AverageSize(samplesToAverage, status);
 }
 
-/**
- * Get the Samples to Average which specifies the number of samples of the timer
- * to average when calculating the period. Perform averaging to account for
- * mechanical imperfections or as oversampling to increase resolution.
- * @return SamplesToAverage The number of samples being averaged (from 1 to 127)
- */
 int32_t HAL_GetFPGAEncoderSamplesToAverage(
     HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) {
   auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle);
@@ -275,10 +212,6 @@ int32_t HAL_GetFPGAEncoderSamplesToAverage(
   return encoder->encoder->readTimerConfig_AverageSize(status);
 }
 
-/**
- * Set an index source for an encoder, which is an input that resets the
- * encoder's count.
- */
 void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle,
                                    HAL_Handle digitalSourceHandle,
                                    HAL_AnalogTriggerType analogTriggerType,