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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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58
wpilibc/src/main/native/include/Drive/KilloughDrive.h
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@@ -50,18 +50,76 @@ class KilloughDrive : public RobotDriveBase {
static constexpr double kDefaultRightMotorAngle = 120.0;
static constexpr double kDefaultBackMotorAngle = 270.0;
/**
* Construct a Killough drive with the given motors and default motor angles.
*
* The default motor angles make the wheels on each corner parallel to their
* respective opposite sides.
*
* If a motor needs to be inverted, do so before passing it in.
*
* @param leftMotor The motor on the left corner.
* @param rightMotor The motor on the right corner.
* @param backMotor The motor on the back corner.
*/
KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor,
SpeedController& backMotor);
/**
* Construct a Killough drive with the given motors.
*
* Angles are measured in degrees clockwise from the positive X axis.
*
* @param leftMotor The motor on the left corner.
* @param rightMotor The motor on the right corner.
* @param backMotor The motor on the back corner.
* @param leftMotorAngle The angle of the left wheel's forward direction of
* travel.
* @param rightMotorAngle The angle of the right wheel's forward direction of
* travel.
* @param backMotorAngle The angle of the back wheel's forward direction of
* travel.
*/
KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor,
SpeedController& backMotor, double leftMotorAngle,
double rightMotorAngle, double backMotorAngle);
~KilloughDrive() override = default;
KilloughDrive(const KilloughDrive&) = delete;
KilloughDrive& operator=(const KilloughDrive&) = delete;
/**
* Drive method for Killough 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 DriveCartesian(double ySpeed, double xSpeed, double zRotation,
double gyroAngle = 0.0);
/**
* Drive method for Killough 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 DrivePolar(double magnitude, double angle, double zRotation);
void StopMotor() override;