Merged documentation from feature/doxygen

.gitignore

@@ -1,8 +1,9 @@
 *.o
-Debug
 bin
 wpilib
 CMakeCache.txt
 CMakeFiles
 cmake_install.cmake
 vision
+latex
+html

Commands/Autonomous/AutoDrive.h

@@ -6,15 +6,45 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Drives the robot without a joystick
+ *
+ * Drives the robot given a timeout and joystick values
+ */
 class AutoDrive: public Command{
   private:
-    double x, y;
+    double x, //<! The x value of the simulated joystick value
+           y; //<! The y value of the simulated joystick value
   public:
+    /**
+     * @brief Constructs AutoDrive
+     *
+     * @param double Timeout in seconds
+     * @param double Joystick x value (default: 0.0)
+     * @param double Joystick y value (default: 0.75)
+     */
     AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Drives the robot
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the drivetrain to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif

Commands/Autonomous/Autonomous.cpp

@@ -25,7 +25,7 @@ Autonomous::Autonomous(int seq){
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));
       break;
     case 2:
-      // Lower BinElevator, collect bin, turn, drive to AutoZone (TM) 
+      // Lower BinElevator, collect bin, turn, drive to AutoZone (TM)
       AddSequential(new BinLower(0.5));
       AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Bin Distance"), 0, 0.75));
       AddSequential(new BinRaise(1.0));
@@ -49,16 +49,16 @@ Autonomous::Autonomous(int seq){
       printf("Done");
       AddSequential(new CollectTote());
       if(SmartDashboard::GetBoolean("Two totes")){
-        AddSequential(new Raise());
+        AddSequential(new Raise(3.5));
         AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
         AddSequential(new CollectTote());
-        AddSequential(new Lower());
+        AddSequential(new Lower(3.0));
-        AddSequential(new Raise());
+        AddSequential(new Raise(3.5));
         if(SmartDashboard::GetBoolean("Three totes")){
           AddSequential(new AutoDrive(SmartDashboard::GetNumber("Auto Tote Distance"), 0, 0.75));
           AddSequential(new CollectTote());
-          AddSequential(new Lower());
+          AddSequential(new Lower(3.0));
-          AddSequential(new Raise());
+          AddSequential(new Raise(3.5));
         }
       }
       AddSequential(new Turn(SmartDashboard::GetNumber("TurnAmount")));

Commands/Autonomous/Autonomous.h

@@ -6,8 +6,27 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief The autonomous period of the robot
+ *
+ * Contains three sequences selectable from the SmartDashboard
+ * All sequences will wait for the SmartDashboard value "Auto Wait Time"
+ * 
+ * Sequence 0: Used for testing only
+ *
+ * Sequence 1: Drives forward "Auto Zone Distance" at -0.8 power
+ *
+ * Sequence 2: Collects a tote, turns, then drives to the auto zone
+ *
+ * Sequence 3: Collects two or three totes then drives to auto zone
+ */
 class Autonomous: public CommandGroup{
   public:
+    /**
+     * @brief Constructs Autonomous
+     *
+     * @param int The sequence to run
+     */
     Autonomous(int);
 };
 #endif

Commands/Autonomous/CollectTote.h

@@ -6,8 +6,16 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Collects one tote
+ *
+ * Rolls collector wheels in and drives forward in parallel
+ */
 class CollectTote: public CommandGroup{
   public:
+    /**
+     * @brief Constructs CollectTote
+     */
     CollectTote();
 };
 #endif

Commands/Autonomous/ReleaseTote.cpp

@@ -3,7 +3,7 @@
 #include "AutoDrive.h"
 #include "../Collector/RollOut.h"
 ReleaseTote::ReleaseTote(){
-  AddParallel(new RollOut());
+  AddParallel(new RollOut(2.0));
   AddParallel(new AutoDrive(0.5, 0, 0.75));
 }
 // vim: ts=2:sw=2:et

Commands/Autonomous/ReleaseTote.h

@@ -6,8 +6,16 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Releases one tote
+ *
+ * Rolls collector wheels out and drives backwards in parallel
+ */
 class ReleaseTote: public CommandGroup{
   public:
+    /**
+     * @brief Constructs ReleaseTote
+     */
     ReleaseTote();
 };
 #endif

Commands/Autonomous/Turn.h

@@ -6,15 +6,41 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Turns the robot
+ *
+ * Turns the robot until a timeout is reached
+ */
 class Turn: public Command{
   private:
-    int degrees;
   public:
+    /**
+     * @brief Constructs Turn
+     *
+     * @param double Timeout in seconds
+     */
     Turn(double);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Turns the robot
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the drivetrain to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif

Commands/BinElevator/BinCloseArms.h

@@ -4,13 +4,39 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Closes BinElevatorArms (NOT USED)
+ *
+ * Sets the solenoid to close the arms of the BinElevator
+ */
 class BinCloseArms: public Command{
   public:
     BinCloseArms(double timeout = 0.5);
+    /**
+     * @brief Constructs BinCloseArms
+     */
+    BinCloseArms();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Sets the solenoid to close the arms
+     */
     void Execute();
+    /**
+     * @brief Returns true to prevent solenoid damage
+     *
+     * @return True
+     */
     bool IsFinished();
+    /**
+     * @brief Ends the command
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 

Commands/BinElevator/BinLower.cpp

@@ -1,7 +1,7 @@
 #include "BinLower.h"
 #include "../../DentRobot.h"
 #include "../../OI.h"
-BinLower::BinLower(double timeout) : Command("BinLower"){
+BinLower::BinLower(float timeout) : Command("BinLower"){
   SetTimeout(timeout);
 }
 void BinLower::Initialize(){

Commands/BinElevator/BinLower.h

@@ -4,14 +4,40 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Lowers the bin elevator until a timeout is reached
+ */
 class BinLower: public Command{
   private:
+    float timeout; //<! The timeout
   public:
-    BinLower(double);
+    /**
+     * @brief Constructs BinLower
+     *
+     * @param float Timeout in seconds
+     */
+    BinLower(float);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Lowers the bin elevator at -1.0 power
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the bin elevator to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif

Commands/BinElevator/BinOpenArms.h

@@ -7,12 +7,32 @@
 class BinOpenArms: public Command{
   public:
     BinOpenArms(double);
+    /**
+     * @brief Constructs BinOpenArms
+     */
+    BinOpenArms();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Sets the solenoid to open the arms
+     */
     void Execute();
+    /**
+     * @brief Returns true to prevent solenoid damage
+     *
+     * @return True
+     */
     bool IsFinished();
+    /**
+     * @brief Ends the command
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et

Commands/BinElevator/BinRaise.h

@@ -4,16 +4,42 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Raises the bin elevator until a timeout is reached
+ */
 class BinRaise: public Command{
   private:
+    float timeout; //<! The timeout
   public:
     BinRaise(double);
+    /**
+     * @brief Constructs BinRaise
+     *
+     * @param float Timeout in seconds
+     */
+    BinRaise(float);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Raises the bin elevator at 1.0 power
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the bin elevator to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et

Commands/Collector/RollIn.h

@@ -6,18 +6,42 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Rolls collector motors in until a timeout is reached
+ */
 class RollIn: public Command{
   private:
-    double rawSpeed;
+    double rawSpeed; //<! Raw speed of the collector
   public:
     RollIn();
+    /**
+     * @brief Constructs RollIn
+     *
+     * @param double Timeout in seconds
+     */
     RollIn(double);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Rolls the four collector motors in
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the collector to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et

Commands/Collector/RollOut.h

@@ -6,15 +6,38 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Rolls collector motors out until a timeout is reached
+ */
 class RollOut: public Command{
   public:
     RollOut(double timeout = 2.0);
+    /**
+     * @brief Constructs RollOut
+     */
+    RollOut();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Rolls the four collector motors out
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the collector to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et

Commands/Drivetrain/Drive.h

@@ -6,13 +6,38 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief Drives the robot with a joystick
+ *
+ * Uses mechanum drive
+ */
 class Drive: public Command{
   public:
+    /**
+     * @brief Constructs Drive
+     */
     Drive();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Drives the robot with joysticks from OI
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return False
+     */
     bool IsFinished();
+    /**
+     * @brief Ends the command
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif

Commands/Elevator/Lower.h

@@ -4,13 +4,37 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Lowers the elevator until a timeout is reached
+ */
 class Lower: public Command{
   public:
     Lower(double timeout=3.0);
+    /**
+     * @brief Constructs Lower
+     */
+    Lower();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Lowers the elevator at -1.0 power
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True if the timeout was reached or if the bottom elevator sensor was triggered
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the elevator to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif

Commands/Elevator/Raise.h

@@ -4,15 +4,38 @@
 #include "Commands/Command.h"
 #include "WPILib.h"
 
+/**
+ * @brief Raises the elevator until a timeout is reached
+ */
 class Raise: public Command{
   public:
     Raise(double timeout=3.5);
+    /**
+     * @brief Constructs Raise
+     */
+    Raise();
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief Raises the elevator at 1.0 power
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True if the timeout was reached or if the top elevator was triggered or if the middle elevator is triggered
+     */
     bool IsFinished();
+    /**
+     * @brief Sets the elevator to stop
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
-
 #endif
 // vim: ts=2:sw=2:et

Commands/Test/CheckDrive.h

@@ -6,15 +6,40 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief TODO
+ */
 class CheckDrive: public CommandGroup{
   private:
-    int motor;
+    int motor; //<! TODO
   public:
+    /**
+     * @brief TODO
+     *
+     * @param int
+     */
     CheckDrive(int);
+    /**
+     * @brief Initializes the class
+     */
     void Initialize();
+    /**
+     * @brief TODO
+     */
     void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return TODO
+     */
     bool IsFinished();
+    /**
+     * @brief TODO
+     */
     void End();
+    /**
+     * @brief Calls End()
+     */
     void Interrupted();
 };
 #endif

Commands/Test/CheckRobot.h

@@ -6,8 +6,14 @@
 #include "../../DentRobot.h"
 #include "WPILib.h"
 
+/**
+ * @brief TODO
+ */
 class CheckRobot: public CommandGroup{
   public:
+    /**
+     * @brief TODO
+     */
     CheckRobot();
 };
 #endif

DentRobot.h

@@ -8,24 +8,77 @@
 #include "Subsystems/Collector.h"
 #include "Subsystems/Pneumatics.h"
 #include "Commands/Autonomous/Autonomous.h"
+/**
+ * @brief The Hitchhikers 2015 robot, Dent
+ *
+ * Features a 4-motor collector, 4-motor mecanum drivetrain, two one-motor elevators
+ */
 class DentRobot: public IterativeRobot {
   private:
+    /**
+     * @brief The default driving command
+     */
     Command *driveCommand = NULL;
   public:
+    /**
+     * @brief Constructs DentRobot
+     */
     DentRobot();
+    /**
+     * @brief The 2-joystick OI
+     */
     static OI* oi;
+    /**
+     * @brief The 4-motor Collctor
+     */
     static Collector* collector;
+    /**
+     * @brief The 4-motor mechanum Drivetrain
+     */
     static Drivetrain* drivetrain;
+    /**
+     * @brief The main one-motor Elevator for lifting totes
+     */
     static Elevator* elevator;
+    /**
+     * @brief The back one-motor Elevator for lifting totes or bins
+     */
     static BinElevator* binElevator;
+    /**
+     * @brief The Pneumatics system (UNUSED)
+     */
     static Pneumatics* pneumatics;
+    /**
+     * @brief The Autonomous command
+     */
     static CommandGroup* aut;
+    /**
+     * @brief Initializes the robot
+     */
     void RobotInit();
+    /**
+     * @brief Periodically run when disabled
+     */
     void DisabledPeriodic();
+    /**
+     * @brief Initializes the autonomous period
+     */
     void AutonomousInit();
+    /**
+     * @brief Periodically run when enabled in autonomous
+     */
     void AutonomousPeriodic();
+    /**
+     * @brief Initializes the teleop period
+     */
     void TeleopInit();
+    /**
+     * @brief Periodically run when enabled in autonomous
+     */
     void TeleopPeriodic();
+    /**
+     * @brief Periodically run when enabled in test mode
+     */
     void TestPeriodic();
 };
 #endif

OI.cpp

@@ -18,10 +18,10 @@ OI::OI() {
   JoystickButton *left1=new JoystickButton(leftStick, 1);
   JoystickButton *left2=new JoystickButton(leftStick, 2);
   left1->WhileHeld(new RollIn(GetLeftThrottle()));
-  left2->WhileHeld(new RollOut());
+  left2->WhileHeld(new RollOut(2.0));
   // Elevator
-  raise=new Raise();
+  raise=new Raise(3.5);
-  lower=new Lower();
+  lower=new Lower(3.0);
   JoystickButton *right4=new JoystickButton(rightStick, 4);
   JoystickButton *right6=new JoystickButton(rightStick, 6);
   right4->WhenPressed(lower);

OI.h

@@ -4,16 +4,45 @@
 #include "WPILib.h"
 #include "Commands/Command.h"
 
+/**
+ * @brief Controls the robot with joysticks
+ */
 class OI
 {
   private:
     Joystick *leftStick, *rightStick;
   public:
+    /**
+     * @brief Constructs OI
+     */
     OI();
-    Command *raise, *lower, *binLower, *binRaise;
+    Command *raise,    //!< Raise command
+            *lower,    //!< Lower command
+            *binLower, //!< BinLower command
+            *binRaise; //!< BinRaise command
+    /**
+     * @brief Returns the right joystick
+     *
+     * @return The right joystick
+     */
     Joystick* GetRightStick();
+    /**
+     * @brief Returns the left joystick
+     *
+     * @return The left joystick
+     */
     Joystick* GetLeftStick();
+    /**
+     * @brief Returns the left joystick throttle
+     *
+     * @return The left joystick throttle
+     */
     double GetLeftThrottle();
+    /**
+     * @brief Returns the right joystick throttle
+     *
+     * @return The right joystick throttle
+     */
     double GetRightThrottle();
 };
 #endif

Subsystems/Collector.h

@@ -2,16 +2,46 @@
 #define COLLECTOR_H
 
 #include "WPILib.h"
+/**
+ * @brief Collects totes
+ * 
+ * Uses four motors, two on the sides, one on the bottom, and one on the ramp to collect and eject totes
+ */
 class Collector: public Subsystem
 {
   private:
-    CANTalon *collectorMotorLeft, *collectorMotorBottom, *collectorMotorRamp, *collectorMotorRight;
+    CANTalon *collectorMotorLeft,   //<! Left collector motor
+             *collectorMotorBottom, //<! Bottom collctor motor
+             *collectorMotorRamp,   //<! Ramp collctor motor
+             *collectorMotorRight;  //<! Right collector motor
+    /**
+     * @brief Analog input for sonar (UNUSED)
+     */
     AnalogInput *sonarAnalog;
+    /**
+     * @brief Digital output for sonar (UNUSED)
+     */
     DigitalOutput *sonarDigital;
   public:
+    /**
+     * @brief Constructs Collector
+     */
     Collector();
+    /**
+     * @brief No action
+     */
     void InitDefaultCommand();
+    /**
+     * @brief Moves the collectors
+     *
+     * @param double The speed to run the collectors
+     */
     void MoveRollers(double);
+    /**
+     * @brief Gets the distance of the sonar (UNUSED)
+     *
+     * @return The sonar distance
+     */
     double GetSonarDistance();
 };
 #endif