From 123898882c723e09c67a2a167b5d73912bbd4cd0 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Mon, 9 Mar 2015 09:48:18 -0400
Subject: [PATCH] Continued work on documentation

---
 Commands/Autonomous/AutoDrive.h    |  6 +--
 Commands/BinElevator/BinOpenArms.h |  8 ++++
 DentRobot.h                        |  2 +-
 Subsystems/BinElevator.h           | 41 +++++++++++++++++++--
 Subsystems/Collector.h             |  6 +--
 Subsystems/Drivetrain.h            | 49 ++++++++++++++++++++++---
 Subsystems/Elevator.cpp            |  1 -
 Subsystems/Elevator.h              | 59 +++++++++++++++++++++++++++---
 Subsystems/Pneumatics.h            | 22 +++++++++--
 9 files changed, 168 insertions(+), 26 deletions(-)

diff --git a/Commands/Autonomous/AutoDrive.h b/Commands/Autonomous/AutoDrive.h
index 23fb324..1572c09 100644
--- a/Commands/Autonomous/AutoDrive.h
+++ b/Commands/Autonomous/AutoDrive.h
@@ -19,9 +19,9 @@ class AutoDrive: public Command{
     /**
      * @brief Constructs AutoDrive
      *
-     * @param double Timeout in seconds
-     * @param double Joystick x value (default: 0.0)
-     * @param double Joystick y value (default: 0.75)
+     * @param duration Timeout in seconds
+     * @param xtmp Joystick x value (default: 0.0)
+     * @param ytmp Joystick y value (default: 0.75)
      */
     AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75);
     /**
diff --git a/Commands/BinElevator/BinOpenArms.h b/Commands/BinElevator/BinOpenArms.h
index aaa4966..0b2bf03 100644
--- a/Commands/BinElevator/BinOpenArms.h
+++ b/Commands/BinElevator/BinOpenArms.h
@@ -4,8 +4,16 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Opens bin arms (unused)
+ */
 class BinOpenArms: public Command{
   public:
+    /**
+     * @brief Constructs BinOpenArms
+     *
+     * @param double The timeout
+     */
     BinOpenArms(double);
     /**
      * @brief Constructs BinOpenArms
diff --git a/DentRobot.h b/DentRobot.h
index 4c859f9..43759bd 100644
--- a/DentRobot.h
+++ b/DentRobot.h
@@ -45,7 +45,7 @@ class DentRobot: public IterativeRobot {
      */
     static BinElevator* binElevator;
     /**
-     * @brief The Pneumatics system (UNUSED)
+     * @brief The Pneumatics system (unused)
      */
     static Pneumatics* pneumatics;
     /**
diff --git a/Subsystems/BinElevator.h b/Subsystems/BinElevator.h
index 8f77991..3ff85a6 100644
--- a/Subsystems/BinElevator.h
+++ b/Subsystems/BinElevator.h
@@ -3,18 +3,53 @@
 
 #include "WPILib.h"
 #include "Commands/PIDSubsystem.h"
+/**
+ * @brief Controls the bin elevator
+ */
 class BinElevator{
   private:
-    CANTalon *motor;
-    Encoder *elevatorEncoder;
-    DigitalInput *elevatorBottom, *elevatorTop;
+    CANTalon *motor; //<! The bin elevator motor
+    Encoder *elevatorEncoder; //<! The bin elevator encoder (unused)
+    DigitalInput *elevatorBottom, //<! The bottom bin elevator sensor (unused)
+                 *elevatorTop; //<! The top bin elevator sensor (unuesd)
   public:
+    /**
+     * @brief Constructs BinElevator
+     */
     BinElevator();
+    /**
+     * @brief No action
+     */
     void InitDefaultCommand();
+    /**
+     * @brief Runs the bin elevator
+     *
+     * @param double The power to run the bin elevator
+     * 
+     * Ranges from -1.0 to 1.0
+     */
     void Run(double);
+    /**
+     * @brief Sets the encoder value to 0 (unused)
+     */
     void ResetEncoder();
+    /**
+     * @brief Gets the height of the bin elevator
+     *
+     * @return The height of the bin elevator
+     */
     double GetHeight();
+    /**
+     * @brief Gets the status of the top sensor
+     *
+     * @return True if the sensor is activated
+     */
     bool GetElevatorTop();
+    /**
+     * @brief Gets the status of the bottom sensor
+     *
+     * @return True if the sensor is activated
+     */
     bool GetElevatorBottom();
 };
 #endif
diff --git a/Subsystems/Collector.h b/Subsystems/Collector.h
index ccf3700..7698f82 100644
--- a/Subsystems/Collector.h
+++ b/Subsystems/Collector.h
@@ -15,11 +15,11 @@ class Collector: public Subsystem
              *collectorMotorRamp,   //<! Ramp collctor motor
              *collectorMotorRight;  //<! Right collector motor
     /**
-     * @brief Analog input for sonar (UNUSED)
+     * @brief Analog input for sonar (unused)
      */
     AnalogInput *sonarAnalog;
     /**
-     * @brief Digital output for sonar (UNUSED)
+     * @brief Digital output for sonar (unused)
      */
     DigitalOutput *sonarDigital;
   public:
@@ -38,7 +38,7 @@ class Collector: public Subsystem
      */
     void MoveRollers(double);
     /**
-     * @brief Gets the distance of the sonar (UNUSED)
+     * @brief Gets the distance of the sonar (unused)
      *
      * @return The sonar distance
      */
diff --git a/Subsystems/Drivetrain.h b/Subsystems/Drivetrain.h
index 45fc325..e6ff9b9 100644
--- a/Subsystems/Drivetrain.h
+++ b/Subsystems/Drivetrain.h
@@ -2,21 +2,58 @@
 #define DRIVETRAIN_H
 
 #include "WPILib.h"
+/**
+ * @brief Drives the robot
+ * 
+ * 4 wheel mecanum drive
+ */
 class Drivetrain: public Subsystem{
   private:
-    CANTalon *rightFront, *leftFront, *rightRear, *leftRear;
-    RobotDrive *drive;
+    CANTalon *rightFront, //<! Front right motor
+             *leftFront, //<! Front left motor
+             *rightRear, //<! Back right motor
+             *leftRear; //<! Back left motor
   public:
+    /**
+     * @brief Constructs Drivetrain
+     */
     Drivetrain();
+    /**
+     * @brief Current motor to test
+     */
     enum e_motors{
-      FRONTRIGHT,
-      FRONTLEFT,
-      BACKRIGHT,
-      BACKLEFT
+      FRONTRIGHT, //<! Front right motor
+      FRONTLEFT, //<! Front left motor
+      BACKRIGHT, //<! Back right motor
+      BACKLEFT //<! Back left motor
     };
+    /**
+     * @brief No action
+     */
     void InitDefaultCommand();
+    /**
+     * @brief Drives the robot with mecanum
+     *
+     * @param double Joystick x value (-1.0 to 1.0)
+     * @param double Joystick y value (-1.0 to 1.0)
+     * @param double Joystick z value (-1.0 to 1.0)
+     * @param double Sensitivity (0.0 to 1.0)
+     * @param double Gyro value (unused)
+     */
     void DriveMecanum(double, double, double, double, double);
+    /**
+     * @brief Drives the robot with arcade drive
+     *
+     * @param double Joystick x value (-1.0 to 1.0)
+     * @param double Joystick y value (-1.0 to 1.0)
+     */
     void DriveArcade(double, double);
+    /**
+     * @brief Tests one motor
+     *
+     * @param e_motors Motor to test
+     * @param double Power to set motor
+     */
     void TestMotor(e_motors, double);
 };
 #endif
diff --git a/Subsystems/Elevator.cpp b/Subsystems/Elevator.cpp
index af1e32a..abba7e3 100644
--- a/Subsystems/Elevator.cpp
+++ b/Subsystems/Elevator.cpp
@@ -8,7 +8,6 @@ Elevator::Elevator(){
   elevatorTop=new DigitalInput(ELEVATOR_TOP_DIO);
   // Checks if the elevator is drifting
   useEncoder=false;
-  stoppedAtSensor=false;
 }
 void Elevator::InitDefaultCommand(){
 }
diff --git a/Subsystems/Elevator.h b/Subsystems/Elevator.h
index e4a1fb5..177021e 100644
--- a/Subsystems/Elevator.h
+++ b/Subsystems/Elevator.h
@@ -2,24 +2,71 @@
 #define ELEVATOR_H
 
 #include "WPILib.h"
-#include "Commands/PIDSubsystem.h"
+/**
+ * @brief The main elevator for lifting totes
+ */
 class Elevator{
   private:
-    CANTalon *motor;
-    Encoder *elevatorEncoder;
-    DigitalInput *elevatorBottom, *elevatorMiddle, *elevatorTop;
-    bool useEncoder;
+    CANTalon *motor; //<! The elevator motor
+    Encoder *elevatorEncoder; //<! The elevator encoder (unused)
+    DigitalInput *elevatorBottom, //<! The bottom elevator sensor
+                 *elevatorMiddle, //<! The middle elevator sensor
+                 *elevatorTop; //<! The top elevator sensor
+    bool useEncoder; //<! Use the elevator enoder (unused)
   public:
+    /**
+     * @brief Constructs Elevator
+     */
     Elevator();
-    bool stoppedAtSensor;
+    /**
+     * @brief No action
+     */
     void InitDefaultCommand();
+    /**
+     * @brief Runs the elevator
+     *
+     * @param double The power to run the bin elevator (-1.0 to 1.0)
+     */
     void Run(double);
+    /**
+     * @brief Sets the encoder value to 0 (unused)
+     */
     void ResetEncoder();
+    /**
+     * @brief Gets the height of the elevtor
+     *
+     * @return The hight of the elevator
+     */
     double GetHeight();
+    /**
+     * @brief Gets the status of the top sensor
+     *
+     * @return True if the sensor is activated
+     */
     bool GetElevatorTop();
+    /**
+     * @brief Gets the status of the middle sensor
+     *
+     * @return True if the sensor is activated
+     */
     bool GetElevatorMiddle();
+    /**
+     * @brief Gets the status of the bottom sensor
+     *
+     * @return True if the sensor is activated
+     */
     bool GetElevatorBottom();
+    /**
+     * @brief Use the elevator encoder (unused)
+     *
+     * @param bool State to use encoder
+     */
     void SetUseEncoder(bool);
+    /**
+     * @brief Gets the state of useEncoder (unused)
+     *
+     * @return State of useEncoder
+     */
     bool GetUseEncoder();
 };
 #endif
diff --git a/Subsystems/Pneumatics.h b/Subsystems/Pneumatics.h
index 9f57b72..0a46928 100644
--- a/Subsystems/Pneumatics.h
+++ b/Subsystems/Pneumatics.h
@@ -2,13 +2,29 @@
 #define PNEUMATICS_H
 
 #include "WPILib.h"
-class Pneumatics: public Subsystem
-{
+/**
+ * @brief Pneumatics on the robot (unused)
+* 
+* For opening or closing the bin arms
+ */
+class Pneumatics: public Subsystem{
   private:
-    Solenoid *solenoid1, *solenoid2;
+    Solenoid *solenoid1, //<! Solenoid 1
+             *solenoid2; //<! Solenoid 3
   public:
+    /**
+     * @brief Constructs Pneumatics
+     */
     Pneumatics();
+    /**
+     * @brief No action
+     */
     void InitDefaultCommand();
+    /**
+     * @brief Sets the state of the arms
+     *
+     * @param bool State of the arms
+     */
     void SetOpen(bool);
 };
 #endif