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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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35
wpilibc/src/main/native/cpp/Drive/RobotDriveBase.cpp
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@@ -20,32 +20,10 @@ using namespace frc;
RobotDriveBase::RobotDriveBase() { m_safetyHelper.SetSafetyEnabled(true); }
/**
* Sets the deadband applied to the drive inputs (e.g., joystick values).
*
* The default value is 0.02. Inputs smaller than the deadband are set to 0.0
* while inputs larger than the deadband are scaled from 0.0 to 1.0. See
* ApplyDeadband().
*
* @param deadband The deadband to set.
*/
void RobotDriveBase::SetDeadband(double deadband) { m_deadband = deadband; }
/**
* Configure the scaling factor for using RobotDrive with motor controllers in a
* mode other than PercentVbus or to limit the maximum output.
*
* @param maxOutput Multiplied with the output percentage computed by the drive
* functions.
*/
void RobotDriveBase::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; }
/**
* Feed the motor safety object. Resets the timer that will stop the motors if
* it completes.
*
* @see MotorSafetyHelper::Feed()
*/
void RobotDriveBase::FeedWatchdog() { m_safetyHelper.Feed(); }
void RobotDriveBase::SetExpiration(double timeout) {
@@ -66,9 +44,6 @@ void RobotDriveBase::SetSafetyEnabled(bool enabled) {
m_safetyHelper.SetSafetyEnabled(enabled);
}
/**
* Limit motor values to the -1.0 to +1.0 range.
*/
double RobotDriveBase::Limit(double value) {
if (value > 1.0) {
return 1.0;
@@ -79,13 +54,6 @@ double RobotDriveBase::Limit(double value) {
return value;
}
/**
* Returns 0.0 if the given value is within the specified range around zero. The
* remaining range between the deadband and 1.0 is scaled from 0.0 to 1.0.
*
* @param value value to clip
* @param deadband range around zero
*/
double RobotDriveBase::ApplyDeadband(double value, double deadband) {
if (std::abs(value) > deadband) {
if (value > 0.0) {
@@ -98,9 +66,6 @@ double RobotDriveBase::ApplyDeadband(double value, double deadband) {
}
}
/**
* Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
*/
void RobotDriveBase::Normalize(wpi::MutableArrayRef<double> wheelSpeeds) {
double maxMagnitude = std::abs(wheelSpeeds[0]);
for (size_t i = 1; i < wheelSpeeds.size(); i++) {