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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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55
wpilibc/src/main/native/cpp/Servo.cpp
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@@ -19,10 +19,6 @@ constexpr double Servo::kMinServoAngle;
constexpr double Servo::kDefaultMaxServoPWM;
constexpr double Servo::kDefaultMinServoPWM;
/**
* @param channel The PWM channel to which the servo is attached. 0-9 are
* on-board, 10-19 are on the MXP port
*/
Servo::Servo(int channel) : SafePWM(channel) {
// Set minimum and maximum PWM values supported by the servo
SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
@@ -34,47 +30,12 @@ Servo::Servo(int channel) : SafePWM(channel) {
SetName("Servo", channel);
}
/**
* Set the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left to
* full right.
*
* @param value Position from 0.0 to 1.0.
*/
void Servo::Set(double value) { SetPosition(value); }
/**
* Set the servo to offline.
*
* Set the servo raw value to 0 (undriven)
*/
void Servo::SetOffline() { SetRaw(0); }
/**
* Get the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left to
* full right.
*
* @return Position from 0.0 to 1.0.
*/
double Servo::Get() const { return GetPosition(); }
/**
* Set the servo angle.
*
* Assume that the servo angle is linear with respect to the PWM value (big
* assumption, need to test).
*
* Servo angles that are out of the supported range of the servo simply
* "saturate" in that direction. In other words, if the servo has a range of
* (X degrees to Y degrees) than angles of less than X result in an angle of
* X being set and angles of more than Y degrees result in an angle of Y being
* set.
*
* @param degrees The angle in degrees to set the servo.
*/
void Servo::SetAngle(double degrees) {
if (degrees < kMinServoAngle) {
degrees = kMinServoAngle;
@@ -85,20 +46,20 @@ void Servo::SetAngle(double degrees) {
SetPosition((degrees - kMinServoAngle) / GetServoAngleRange());
}
/**
* Get the servo angle.
*
* Assume that the servo angle is linear with respect to the PWM value (big
* assumption, need to test).
*
* @return The angle in degrees to which the servo is set.
*/
double Servo::GetAngle() const {
return GetPosition() * GetServoAngleRange() + kMinServoAngle;
}
double Servo::GetMaxAngle() const { return kMaxServoAngle; }
double Servo::GetMinAngle() const { return kMinServoAngle; }
void Servo::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Servo");
builder.AddDoubleProperty("Value", [=]() { return Get(); },
[=](double value) { Set(value); });
}
double Servo::GetServoAngleRange() const {
return kMaxServoAngle - kMinServoAngle;
}