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

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

wpilibc/src/main/native/cpp/AnalogInput.cpp

@@ -19,12 +19,6 @@
 
 using namespace frc;
 
-/**
- * Construct an analog input.
- *
- * @param channel The channel number on the roboRIO to represent. 0-3 are
- *                on-board 4-7 are on the MXP port.
- */
 AnalogInput::AnalogInput(int channel) {
   if (!SensorUtil::CheckAnalogInputChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
@@ -49,23 +43,11 @@ AnalogInput::AnalogInput(int channel) {
   SetName("AnalogInput", channel);
 }
 
-/**
- * Channel destructor.
- */
 AnalogInput::~AnalogInput() {
   HAL_FreeAnalogInputPort(m_port);
   m_port = HAL_kInvalidHandle;
 }
 
-/**
- * Get a sample straight from this channel.
- *
- * The sample is a 12-bit value representing the 0V to 5V range of the A/D
- * converter in the module.  The units are in A/D converter codes.  Use
- * GetVoltage() to get the analog value in calibrated units.
- *
- * @return A sample straight from this channel.
- */
 int AnalogInput::GetValue() const {
   if (StatusIsFatal()) return 0;
   int32_t status = 0;
@@ -74,20 +56,6 @@ int AnalogInput::GetValue() const {
   return value;
 }
 
-/**
- * Get a sample from the output of the oversample and average engine for this
- * channel.
- *
- * The sample is 12-bit + the bits configured in SetOversampleBits().
- * The value configured in SetAverageBits() will cause this value to be averaged
- * 2**bits number of samples.
- * This is not a sliding window.  The sample will not change until
- * 2**(OversampleBits + AverageBits) samples
- * have been acquired from the module on this channel.
- * Use GetAverageVoltage() to get the analog value in calibrated units.
- *
- * @return A sample from the oversample and average engine for this channel.
- */
 int AnalogInput::GetAverageValue() const {
   if (StatusIsFatal()) return 0;
   int32_t status = 0;
@@ -96,14 +64,6 @@ int AnalogInput::GetAverageValue() const {
   return value;
 }
 
-/**
- * Get a scaled sample straight from this channel.
- *
- * The value is scaled to units of Volts using the calibrated scaling data from
- * GetLSBWeight() and GetOffset().
- *
- * @return A scaled sample straight from this channel.
- */
 double AnalogInput::GetVoltage() const {
   if (StatusIsFatal()) return 0.0;
   int32_t status = 0;
@@ -112,20 +72,6 @@ double AnalogInput::GetVoltage() const {
   return voltage;
 }
 
-/**
- * Get a scaled sample from the output of the oversample and average engine for
- * this channel.
- *
- * The value is scaled to units of Volts using the calibrated scaling data from
- * GetLSBWeight() and GetOffset().
- * Using oversampling will cause this value to be higher resolution, but it will
- * update more slowly.
- * Using averaging will cause this value to be more stable, but it will update
- * more slowly.
- *
- * @return A scaled sample from the output of the oversample and average engine
- * for this channel.
- */
 double AnalogInput::GetAverageVoltage() const {
   if (StatusIsFatal()) return 0.0;
   int32_t status = 0;
@@ -134,57 +80,11 @@ double AnalogInput::GetAverageVoltage() const {
   return voltage;
 }
 
-/**
- * Get the factory scaling least significant bit weight constant.
- *
- * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
- *
- * @return Least significant bit weight.
- */
-int AnalogInput::GetLSBWeight() const {
-  if (StatusIsFatal()) return 0;
-  int32_t status = 0;
-  int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-  return lsbWeight;
-}
-
-/**
- * Get the factory scaling offset constant.
- *
- * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
- *
- * @return Offset constant.
- */
-int AnalogInput::GetOffset() const {
-  if (StatusIsFatal()) return 0;
-  int32_t status = 0;
-  int offset = HAL_GetAnalogOffset(m_port, &status);
-  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
-  return offset;
-}
-
-/**
- * Get the channel number.
- *
- * @return The channel number.
- */
 int AnalogInput::GetChannel() const {
   if (StatusIsFatal()) return 0;
   return m_channel;
 }
 
-/**
- * Set the number of averaging bits.
- *
- * This sets the number of averaging bits. The actual number of averaged samples
- * is 2^bits.
- * Use averaging to improve the stability of your measurement at the expense of
- * sampling rate.
- * The averaging is done automatically in the FPGA.
- *
- * @param bits Number of bits of averaging.
- */
 void AnalogInput::SetAverageBits(int bits) {
   if (StatusIsFatal()) return;
   int32_t status = 0;
@@ -192,14 +92,6 @@ void AnalogInput::SetAverageBits(int bits) {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
-/**
- * Get the number of averaging bits previously configured.
- *
- * This gets the number of averaging bits from the FPGA. The actual number of
- * averaged samples is 2^bits. The averaging is done automatically in the FPGA.
- *
- * @return Number of bits of averaging previously configured.
- */
 int AnalogInput::GetAverageBits() const {
   int32_t status = 0;
   int averageBits = HAL_GetAnalogAverageBits(m_port, &status);
@@ -207,16 +99,6 @@ int AnalogInput::GetAverageBits() const {
   return averageBits;
 }
 
-/**
- * Set the number of oversample bits.
- *
- * This sets the number of oversample bits. The actual number of oversampled
- * values is 2^bits. Use oversampling to improve the resolution of your
- * measurements at the expense of sampling rate. The oversampling is done
- * automatically in the FPGA.
- *
- * @param bits Number of bits of oversampling.
- */
 void AnalogInput::SetOversampleBits(int bits) {
   if (StatusIsFatal()) return;
   int32_t status = 0;
@@ -224,15 +106,6 @@ void AnalogInput::SetOversampleBits(int bits) {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
-/**
- * Get the number of oversample bits previously configured.
- *
- * This gets the number of oversample bits from the FPGA. The actual number of
- * oversampled values is 2^bits. The oversampling is done automatically in the
- * FPGA.
- *
- * @return Number of bits of oversampling previously configured.
- */
 int AnalogInput::GetOversampleBits() const {
   if (StatusIsFatal()) return 0;
   int32_t status = 0;
@@ -241,11 +114,22 @@ int AnalogInput::GetOversampleBits() const {
   return oversampleBits;
 }
 
-/**
- * Is the channel attached to an accumulator.
- *
- * @return The analog input is attached to an accumulator.
- */
+int AnalogInput::GetLSBWeight() const {
+  if (StatusIsFatal()) return 0;
+  int32_t status = 0;
+  int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return lsbWeight;
+}
+
+int AnalogInput::GetOffset() const {
+  if (StatusIsFatal()) return 0;
+  int32_t status = 0;
+  int offset = HAL_GetAnalogOffset(m_port, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+  return offset;
+}
+
 bool AnalogInput::IsAccumulatorChannel() const {
   if (StatusIsFatal()) return false;
   int32_t status = 0;
@@ -254,9 +138,6 @@ bool AnalogInput::IsAccumulatorChannel() const {
   return isAccum;
 }
 
-/**
- * Initialize the accumulator.
- */
 void AnalogInput::InitAccumulator() {
   if (StatusIsFatal()) return;
   m_accumulatorOffset = 0;
@@ -265,22 +146,11 @@ void AnalogInput::InitAccumulator() {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
-/**
- * Set an initial value for the accumulator.
- *
- * This will be added to all values returned to the user.
- *
- * @param initialValue The value that the accumulator should start from when
- *                     reset.
- */
 void AnalogInput::SetAccumulatorInitialValue(int64_t initialValue) {
   if (StatusIsFatal()) return;
   m_accumulatorOffset = initialValue;
 }
 
-/**
- * Resets the accumulator to the initial value.
- */
 void AnalogInput::ResetAccumulator() {
   if (StatusIsFatal()) return;
   int32_t status = 0;
@@ -297,17 +167,6 @@ void AnalogInput::ResetAccumulator() {
   }
 }
 
-/**
- * Set the center value of the accumulator.
- *
- * The center value is subtracted from each A/D value before it is added to the
- * accumulator. This is used for the center value of devices like gyros and
- * accelerometers to take the device offset into account when integrating.
- *
- * This center value is based on the output of the oversampled and averaged
- * source from the accumulator channel. Because of this, any non-zero
- * oversample bits will affect the size of the value for this field.
- */
 void AnalogInput::SetAccumulatorCenter(int center) {
   if (StatusIsFatal()) return;
   int32_t status = 0;
@@ -315,9 +174,6 @@ void AnalogInput::SetAccumulatorCenter(int center) {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
-/**
- * Set the accumulator's deadband.
- */
 void AnalogInput::SetAccumulatorDeadband(int deadband) {
   if (StatusIsFatal()) return;
   int32_t status = 0;
@@ -325,14 +181,6 @@ void AnalogInput::SetAccumulatorDeadband(int deadband) {
   wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
-/**
- * Read the accumulated value.
- *
- * Read the value that has been accumulating.
- * The accumulator is attached after the oversample and average engine.
- *
- * @return The 64-bit value accumulated since the last Reset().
- */
 int64_t AnalogInput::GetAccumulatorValue() const {
   if (StatusIsFatal()) return 0;
   int32_t status = 0;
@@ -341,14 +189,6 @@ int64_t AnalogInput::GetAccumulatorValue() const {
   return value + m_accumulatorOffset;
 }
 
-/**
- * Read the number of accumulated values.
- *
- * Read the count of the accumulated values since the accumulator was last
- * Reset().
- *
- * @return The number of times samples from the channel were accumulated.
- */
 int64_t AnalogInput::GetAccumulatorCount() const {
   if (StatusIsFatal()) return 0;
   int32_t status = 0;
@@ -357,15 +197,6 @@ int64_t AnalogInput::GetAccumulatorCount() const {
   return count;
 }
 
-/**
- * Read the accumulated value and the number of accumulated values atomically.
- *
- * This function reads the value and count from the FPGA atomically.
- * This can be used for averaging.
- *
- * @param value Reference to the 64-bit accumulated output.
- * @param count Reference to the number of accumulation cycles.
- */
 void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const {
   if (StatusIsFatal()) return;
   int32_t status = 0;
@@ -374,25 +205,12 @@ void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const {
   value += m_accumulatorOffset;
 }
 
-/**
- * Set the sample rate per channel for all analog channels.
- *
- * The maximum rate is 500kS/s divided by the number of channels in use.
- * This is 62500 samples/s per channel.
- *
- * @param samplesPerSecond The number of samples per second.
- */
 void AnalogInput::SetSampleRate(double samplesPerSecond) {
   int32_t status = 0;
   HAL_SetAnalogSampleRate(samplesPerSecond, &status);
   wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
 }
 
-/**
- * Get the current sample rate for all channels
- *
- * @return Sample rate.
- */
 double AnalogInput::GetSampleRate() {
   int32_t status = 0;
   double sampleRate = HAL_GetAnalogSampleRate(&status);
@@ -400,11 +218,6 @@ double AnalogInput::GetSampleRate() {
   return sampleRate;
 }
 
-/**
- * Get the Average value for the PID Source base object.
- *
- * @return The average voltage.
- */
 double AnalogInput::PIDGet() {
   if (StatusIsFatal()) return 0.0;
   return GetAverageVoltage();