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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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45
wpilibc/src/main/native/cpp/Drive/MecanumDrive.cpp
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@@ -20,11 +20,6 @@ using namespace frc;
constexpr double kPi = 3.14159265358979323846;
/**
* Construct a MecanumDrive.
*
* If a motor needs to be inverted, do so before passing it in.
*/
MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
SpeedController& rearLeftMotor,
SpeedController& frontRightMotor,
@@ -42,21 +37,6 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
SetName("MecanumDrive", instances);
}
/**
* Drive method for Mecanum platform.
*
* Angles are measured clockwise from the positive X axis. The robot's speed is
* independent from its angle or rotation rate.
*
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is
* positive.
* @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 gyroAngle The current angle reading from the gyro in degrees around
* the Z axis. Use this to implement field-oriented controls.
*/
void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
double zRotation, double gyroAngle) {
if (!reported) {
@@ -93,19 +73,6 @@ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
m_safetyHelper.Feed();
}
/**
* Drive method for Mecanum platform.
*
* Angles are measured clockwise from the positive X axis. The robot's speed is
* independent from its angle or rotation rate.
*
* @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is
* positive.
* @param angle The angle around the Z axis at which the robot drives in
* degrees [-180..180].
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
*/
void MecanumDrive::DrivePolar(double magnitude, double angle,
double zRotation) {
if (!reported) {
@@ -118,22 +85,10 @@ void MecanumDrive::DrivePolar(double magnitude, double angle,
magnitude * std::cos(angle * (kPi / 180.0)), zRotation, 0.0);
}
/**
* 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 MecanumDrive::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 MecanumDrive::SetRightSideInverted(bool rightSideInverted) {
m_rightSideInvertMultiplier = rightSideInverted ? -1.0 : 1.0;
}