Merge pull request #50 from utra-robosoccer/Update_doc

Update documentation

Robot/Doc/html/_communication_8h_source.html

@@ -92,8 +92,8 @@
 <div class="contents">
 <a href="_communication_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">/******************** Define to prevent recursive inclusion *******************/</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#ifndef __COMMUNICATION_H__</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#define __COMMUNICATION_H__</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">/********************************** Includes **********************************/</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;cmsis_os.h&quot;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &quot;usart.h&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="robot_state_8h.html">robotState.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="robot_goal_8h.html">robotGoal.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">/******************************* Public Variables ******************************/</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<a class="code" href="structrobot__goal.html">RobotGoal</a> <a class="code" href="group___communication.html#ga26279af13a015bc5d25fdff1ed1202fc">robotGoal</a>;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<a class="code" href="structrobot__state.html">RobotState</a> <a class="code" href="group___communication.html#gac506966b1e773431c55862462858c0a1">robotState</a>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">/* end CommunicationHeader */</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* __COMMUNICATION_H__ */</span><span class="preprocessor"></span></div><div class="ttc" id="robot_state_8h_html"><div class="ttname"><a href="robot_state_8h.html">robotState.h</a></div><div class="ttdoc">Defines the RobotState data structure used in communication with the high-level software. RobotState is the data structure sent from the MCU to the PC; it contains sensor data. </div></div>
 <div class="ttc" id="group___communication_html_ga26279af13a015bc5d25fdff1ed1202fc"><div class="ttname"><a href="group___communication.html#ga26279af13a015bc5d25fdff1ed1202fc">robotGoal</a></div><div class="ttdeci">RobotGoal robotGoal</div><div class="ttdef"><b>Definition:</b> Communication.c:30</div></div>
-<div class="ttc" id="structrobot__goal_html"><div class="ttname"><a href="structrobot__goal.html">robot_goal</a></div><div class="ttdef"><b>Definition:</b> robotGoal.h:17</div></div>
-<div class="ttc" id="structrobot__state_html"><div class="ttname"><a href="structrobot__state.html">robot_state</a></div><div class="ttdef"><b>Definition:</b> robotState.h:15</div></div>
+<div class="ttc" id="structrobot__goal_html"><div class="ttname"><a href="structrobot__goal.html">robot_goal</a></div><div class="ttdoc">Data structure sent from the PC to the MCU. Contains &quot;goal&quot; motor positions. </div><div class="ttdef"><b>Definition:</b> robotGoal.h:18</div></div>
+<div class="ttc" id="structrobot__state_html"><div class="ttname"><a href="structrobot__state.html">robot_state</a></div><div class="ttdoc">Data structure sent from the MCU to the PC. Contains sensor data. </div><div class="ttdef"><b>Definition:</b> robotState.h:15</div></div>
 <div class="ttc" id="robot_goal_8h_html"><div class="ttname"><a href="robot_goal_8h.html">robotGoal.h</a></div><div class="ttdoc">Defines the RobotGoal data structure used in communication with the high-level software. RobotGoal is the data structure sent from the PC to the MCU; it contains motor trajectories. </div></div>
 <div class="ttc" id="group___communication_html_gac506966b1e773431c55862462858c0a1"><div class="ttname"><a href="group___communication.html#gac506966b1e773431c55862462858c0a1">robotState</a></div><div class="ttdeci">RobotState robotState</div><div class="ttdef"><b>Definition:</b> Communication.c:38</div></div>
 </div><!-- fragment --></div><!-- contents -->

Robot/Doc/html/_dynamixel___handle_type_def_8h.html

@@ -131,40 +131,28 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
 Data Structures</h2></td></tr>
 <tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_dynamixel___handle_type_def.html">Dynamixel_HandleTypeDef</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Organizes all the information relevant to a motor.  <a href="struct_dynamixel___handle_type_def.html#details">More...</a><br /></td></tr>
 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
 Typedefs</h2></td></tr>
-<tr class="memitem:a87ba55c932e76420eb2051bffd8a6843"><td class="memItemLeft" align="right" valign="top">typedef enum <a class="el" href="_dynamixel___handle_type_def_8h.html#a497d7796b971d673d2e6b60ca4fc1b66">motorTypes_e</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_dynamixel___handle_type_def_8h.html#a87ba55c932e76420eb2051bffd8a6843">motorTypes_t</a></td></tr>
+<tr class="memitem:a87ba55c932e76420eb2051bffd8a6843"><td class="memItemLeft" align="right" valign="top"><a id="a87ba55c932e76420eb2051bffd8a6843"></a>
+typedef enum <a class="el" href="_dynamixel___handle_type_def_8h.html#a497d7796b971d673d2e6b60ca4fc1b66">motorTypes_e</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_dynamixel___handle_type_def_8h.html#a87ba55c932e76420eb2051bffd8a6843">motorTypes_t</a></td></tr>
+<tr class="memdesc:a87ba55c932e76420eb2051bffd8a6843"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enumerates the types of Dynamixel actuators the library supports. <br /></td></tr>
 <tr class="separator:a87ba55c932e76420eb2051bffd8a6843"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
 Enumerations</h2></td></tr>
 <tr class="memitem:a497d7796b971d673d2e6b60ca4fc1b66"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_dynamixel___handle_type_def_8h.html#a497d7796b971d673d2e6b60ca4fc1b66">motorTypes_e</a> { <a class="el" href="_dynamixel___handle_type_def_8h.html#a497d7796b971d673d2e6b60ca4fc1b66a936aa44023035ede390334a9ea5fc783">AX12ATYPE</a>, 
 <a class="el" href="_dynamixel___handle_type_def_8h.html#a497d7796b971d673d2e6b60ca4fc1b66a478ae953e21ee25962283e4f5fe6bea6">MX28TYPE</a>
  }</td></tr>
+<tr class="memdesc:a497d7796b971d673d2e6b60ca4fc1b66"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enumerates the types of Dynamixel actuators the library supports.  <a href="_dynamixel___handle_type_def_8h.html#a497d7796b971d673d2e6b60ca4fc1b66">More...</a><br /></td></tr>
 <tr class="separator:a497d7796b971d673d2e6b60ca4fc1b66"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><p>This file defines the data structure used by all Dynamixel actuators, as well as user-defined types it uses. </p>
 <dl class="section author"><dt>Author</dt><dd>Tyler </dd></dl>
-</div><h2 class="groupheader">Typedef Documentation</h2>
-<a id="a87ba55c932e76420eb2051bffd8a6843"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a87ba55c932e76420eb2051bffd8a6843">&#9670;&nbsp;</a></span>motorTypes_t</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">typedef enum <a class="el" href="_dynamixel___handle_type_def_8h.html#a497d7796b971d673d2e6b60ca4fc1b66">motorTypes_e</a> <a class="el" href="_dynamixel___handle_type_def_8h.html#a87ba55c932e76420eb2051bffd8a6843">motorTypes_t</a></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<p>Enumerates the types of Dynamixel actuators the library supports </p>
-
-</div>
-</div>
-<h2 class="groupheader">Enumeration Type Documentation</h2>
+</div><h2 class="groupheader">Enumeration Type Documentation</h2>
 <a id="a497d7796b971d673d2e6b60ca4fc1b66"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#a497d7796b971d673d2e6b60ca4fc1b66">&#9670;&nbsp;</a></span>motorTypes_e</h2>
 
@@ -176,7 +164,8 @@ <h2 class="memtitle"><span class="permalink"><a href="#a497d7796b971d673d2e6b60c
         </tr>
       </table>
 </div><div class="memdoc">
-<p>Enumerates the types of Dynamixel actuators the library supports </p>
+
+<p>Enumerates the types of Dynamixel actuators the library supports. </p>
 <table class="fieldtable">
 <tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a497d7796b971d673d2e6b60ca4fc1b66a936aa44023035ede390334a9ea5fc783"></a>AX12ATYPE&#160;</td><td class="fielddoc"><p>AX12A actuator </p>
 </td></tr>

Robot/Doc/html/_dynamixel_protocol_v1_8h_source.html

@@ -100,7 +100,7 @@
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_ga071559df599e50e85b554cc9ea57df41"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#ga071559df599e50e85b554cc9ea57df41">Dynamixel_IsRegistered</a></div><div class="ttdeci">bool Dynamixel_IsRegistered(Dynamixel_HandleTypeDef *hdynamixel)</div><div class="ttdoc">Used to tell if a command sent was written to motor registers. </div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:995</div></div>
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_gacff925d04a9c8459a18ce97d5472df7f"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#gacff925d04a9c8459a18ce97d5472df7f">Dynamixel_IsMoving</a></div><div class="ttdeci">bool Dynamixel_IsMoving(Dynamixel_HandleTypeDef *hdynamixel)</div><div class="ttdoc">Indicates whether the motor is in motion. </div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:1007</div></div>
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_ga9031a9e4b81c946ba731cda4ed677abe"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#ga9031a9e4b81c946ba731cda4ed677abe">Dynamixel_LEDEnable</a></div><div class="ttdeci">void Dynamixel_LEDEnable(Dynamixel_HandleTypeDef *hdynamixel, uint8_t isEnabled)</div><div class="ttdoc">Toggles the motor LED. </div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:607</div></div>
-<div class="ttc" id="struct_dynamixel___handle_type_def_html"><div class="ttname"><a href="struct_dynamixel___handle_type_def.html">Dynamixel_HandleTypeDef</a></div><div class="ttdef"><b>Definition:</b> Dynamixel_HandleTypeDef.h:39</div></div>
+<div class="ttc" id="struct_dynamixel___handle_type_def_html"><div class="ttname"><a href="struct_dynamixel___handle_type_def.html">Dynamixel_HandleTypeDef</a></div><div class="ttdoc">Organizes all the information relevant to a motor. </div><div class="ttdef"><b>Definition:</b> Dynamixel_HandleTypeDef.h:39</div></div>
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_gafea72c218c11248d29a2799bea2d31f8"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#gafea72c218c11248d29a2799bea2d31f8">MIN_VELOCITY</a></div><div class="ttdeci">const float MIN_VELOCITY</div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:94</div></div>
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_ga02a949cbb038277edd8bfeab17547726"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#ga02a949cbb038277edd8bfeab17547726">DEFAULT_TORQUE_ENABLE</a></div><div class="ttdeci">const uint8_t DEFAULT_TORQUE_ENABLE</div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:89</div></div>
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_ga41f1726bc88a49ab5051ed20f492a0f6"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#ga41f1726bc88a49ab5051ed20f492a0f6">Dynamixel_TorqueEnable</a></div><div class="ttdeci">void Dynamixel_TorqueEnable(Dynamixel_HandleTypeDef *hdynamixel, uint8_t isEnabled)</div><div class="ttdoc">Enables or disables torque for current motor. </div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:584</div></div>
@@ -142,7 +142,7 @@
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_ga612a6cae0aa7f939510e1584d870652e"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#ga612a6cae0aa7f939510e1584d870652e">Dynamixel_GetVoltage</a></div><div class="ttdeci">float Dynamixel_GetVoltage(Dynamixel_HandleTypeDef *hdynamixel)</div><div class="ttdoc">Reads the motor supply voltage. </div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:959</div></div>
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_gac2af2caa75e7341d542769dd9e8649fa"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#gac2af2caa75e7341d542769dd9e8649fa">Dynamixel_SetGoalVelocity</a></div><div class="ttdeci">void Dynamixel_SetGoalVelocity(Dynamixel_HandleTypeDef *hdynamixel, float goalVelocity)</div><div class="ttdoc">Sets the goal velocity of the motor in RAM. </div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:682</div></div>
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_ga5fe7d65ff558a5f1596c0597e0c2fcba"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#ga5fe7d65ff558a5f1596c0597e0c2fcba">DEFAULT_STATUS_RETURN_LEVEL</a></div><div class="ttdeci">const uint8_t DEFAULT_STATUS_RETURN_LEVEL</div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:86</div></div>
-<div class="ttc" id="_dynamixel___handle_type_def_8h_html_a497d7796b971d673d2e6b60ca4fc1b66"><div class="ttname"><a href="_dynamixel___handle_type_def_8h.html#a497d7796b971d673d2e6b60ca4fc1b66">motorTypes_e</a></div><div class="ttdeci">motorTypes_e</div><div class="ttdef"><b>Definition:</b> Dynamixel_HandleTypeDef.h:32</div></div>
+<div class="ttc" id="_dynamixel___handle_type_def_8h_html_a497d7796b971d673d2e6b60ca4fc1b66"><div class="ttname"><a href="_dynamixel___handle_type_def_8h.html#a497d7796b971d673d2e6b60ca4fc1b66">motorTypes_e</a></div><div class="ttdeci">motorTypes_e</div><div class="ttdoc">Enumerates the types of Dynamixel actuators the library supports. </div><div class="ttdef"><b>Definition:</b> Dynamixel_HandleTypeDef.h:32</div></div>
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_gab2910ce24ca0b804f72b74a00d331dea"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#gab2910ce24ca0b804f72b74a00d331dea">Dynamixel_SetAlarmLED</a></div><div class="ttdeci">void Dynamixel_SetAlarmLED(Dynamixel_HandleTypeDef *hdynamixel, uint8_t alarm_LED_data)</div><div class="ttdoc">Sets the conditions under which the motor LED will light up. </div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:533</div></div>
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_gacde9601989267c2818bd407257932b10"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#gacde9601989267c2818bd407257932b10">Dynamixel_SetID</a></div><div class="ttdeci">void Dynamixel_SetID(Dynamixel_HandleTypeDef *hdynamixel, uint8_t ID)</div><div class="ttdoc">Sets the ID (identification number) for the current motor. </div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:199</div></div>
 <div class="ttc" id="group___dynamixel_protocol_v1_header_html_gaac7287fbb0c5cd6aae14f43f878189d9"><div class="ttname"><a href="group___dynamixel_protocol_v1_header.html#gaac7287fbb0c5cd6aae14f43f878189d9">MIN_ANGLE</a></div><div class="ttdeci">const float MIN_ANGLE</div><div class="ttdef"><b>Definition:</b> DynamixelProtocolV1.c:96</div></div>

Robot/Doc/html/_m_p_u6050_8c.html

@@ -116,7 +116,7 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
 Functions</h2></td></tr>
 <tr class="memitem:ga3cf74abb0c6d7d97f578bcb742a704a2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___init.html#ga3cf74abb0c6d7d97f578bcb742a704a2">MPU6050_init</a> (<a class="el" href="struct_m_p_u6050___handle_type_def.html">MPU6050_HandleTypeDef</a> *sMPU6050)</td></tr>
-<tr class="memdesc:ga3cf74abb0c6d7d97f578bcb742a704a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function is used as the first step of initialization of an <a class="el" href="struct_m_p_u6050___handle_type_def.html">MPU6050_HandleTypeDef</a> struct.  <a href="group___init.html#ga3cf74abb0c6d7d97f578bcb742a704a2">More...</a><br /></td></tr>
+<tr class="memdesc:ga3cf74abb0c6d7d97f578bcb742a704a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function is used as the first step of initialization of an <a class="el" href="struct_m_p_u6050___handle_type_def.html" title="Data structure to organize MPU6050 configuration details and sensor readings. ">MPU6050_HandleTypeDef</a> struct.  <a href="group___init.html#ga3cf74abb0c6d7d97f578bcb742a704a2">More...</a><br /></td></tr>
 <tr class="separator:ga3cf74abb0c6d7d97f578bcb742a704a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:ga81e3804d58deb9dc212008fb5196c15c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___init.html#ga81e3804d58deb9dc212008fb5196c15c">MPU6050_manually_set_offsets</a> (<a class="el" href="struct_m_p_u6050___handle_type_def.html">MPU6050_HandleTypeDef</a> *sMPU6050)</td></tr>
 <tr class="memdesc:ga81e3804d58deb9dc212008fb5196c15c"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function is used to manually set the offsets of the accelerometer and gyroscope based on empirical measurements taken for this specific sensor. In the future, this could be updated to allow for various MPU6050 devices, each with their own specific offsets.  <a href="group___init.html#ga81e3804d58deb9dc212008fb5196c15c">More...</a><br /></td></tr>