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

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Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
2018-05-31 20:47:15 -07:00
committed by Peter Johnson
parent d9971a705a
commit 8c680a26f8
234 changed files with 9936 additions and 9309 deletions
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79
wpilibc/src/main/native/cpp/Drive/DifferentialDrive.cpp
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@@ -17,12 +17,6 @@
using namespace frc;
/**
* Construct a DifferentialDrive.
*
* To pass multiple motors per side, use a SpeedControllerGroup. If a motor
* needs to be inverted, do so before passing it in.
*/
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
: m_leftMotor(leftMotor), m_rightMotor(rightMotor) {
@@ -33,18 +27,6 @@ DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SetName("DifferentialDrive", instances);
}
/**
* Arcade drive method for differential drive platform.
*
* Note: Some drivers may prefer inverted rotation controls. This can be done by
* negating the value passed for rotation.
*
* @param xSpeed The speed at which the robot should drive along the X
* axis [-1.0..1.0]. Forward is negative.
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param squaredInputs If set, decreases the input sensitivity at low speeds.
*/
void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
bool squaredInputs) {
static bool reported = false;
@@ -100,21 +82,6 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
m_safetyHelper.Feed();
}
/**
* Curvature drive method for differential drive platform.
*
* The rotation argument controls the curvature of the robot's path rather than
* its rate of heading change. This makes the robot more controllable at high
* speeds. Also handles the robot's quick turn functionality - "quick turn"
* overrides constant-curvature turning for turn-in-place maneuvers.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
* positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
* @param isQuickTurn If set, overrides constant-curvature turning for
* turn-in-place maneuvers.
*/
void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
bool isQuickTurn) {
static bool reported = false;
@@ -188,15 +155,6 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
m_safetyHelper.Feed();
}
/**
* Tank drive method for differential drive platform.
*
* @param leftSpeed The robot left side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param rightSpeed The robot right side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param squaredInputs If set, decreases the input sensitivity at low speeds.
*/
void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
bool squaredInputs) {
static bool reported = false;
@@ -225,55 +183,18 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
m_safetyHelper.Feed();
}
/**
* Sets the QuickStop speed threshold in curvature drive.
*
* QuickStop compensates for the robot's moment of inertia when stopping after a
* QuickTurn.
*
* While QuickTurn is enabled, the QuickStop accumulator takes on the rotation
* rate value outputted by the low-pass filter when the robot's speed along the
* X axis is below the threshold. When QuickTurn is disabled, the accumulator's
* value is applied against the computed angular power request to slow the
* robot's rotation.
*
* @param threshold X speed below which quick stop accumulator will receive
* rotation rate values [0..1.0].
*/
void DifferentialDrive::SetQuickStopThreshold(double threshold) {
m_quickStopThreshold = threshold;
}
/**
* Sets the low-pass filter gain for QuickStop in curvature drive.
*
* The low-pass filter filters incoming rotation rate commands to smooth out
* high frequency changes.
*
* @param alpha Low-pass filter gain [0.0..2.0]. Smaller values result in slower
* output changes. Values between 1.0 and 2.0 result in output
* oscillation. Values below 0.0 and above 2.0 are unstable.
*/
void DifferentialDrive::SetQuickStopAlpha(double alpha) {
m_quickStopAlpha = alpha;
}
/**
* Gets if the power sent to the right side of the drivetrain is multipled by
* -1.
*
* @return true if the right side is inverted
*/
bool DifferentialDrive::IsRightSideInverted() const {
return m_rightSideInvertMultiplier == -1.0;
}
/**
* Sets if the power sent to the right side of the drivetrain should be
* multipled by -1.
*
* @param rightSideInverted true if right side power should be multipled by -1
*/
void DifferentialDrive::SetRightSideInverted(bool rightSideInverted) {
m_rightSideInvertMultiplier = rightSideInverted ? -1.0 : 1.0;
}