* Comments

1 files changed, 26 insertions, 0 deletions

diff --git a/Segway.java b/Segway.java
index 4679a0d..57e4be6 100644
--- a/Segway.java
+++ b/Segway.java
@@ -34,6 +34,10 @@ class SegwayRunner
     GyroSensor  gyro;
     float       angle = 0.0f;
 
+    /**
+     * Create a Runner object attached to the specified port.
+     * @param port port, e.g. Port.S1
+     */
     public SegwayRunner (SensorPort port)
     {
         gyro = new GyroSensor (port);
@@ -41,8 +45,13 @@ class SegwayRunner
         Motor.C.smoothAcceleration (false);
     }
 
+    /**
+     * Runner main loop: do all the required stuff to keep the robot going
+     */
     public void run () throws Exception
     {
+        /* Set the Gyro Sensor offset
+         * FIXME: we could have a pre-loop computing the offset live */
         gyro.setOffset (OFFSET);
         float angle_old = 0.0f;
         float r1 = 0, r2 = 0;
@@ -50,12 +59,14 @@ class SegwayRunner
         float dt;
         int speed;
 
+        /* This is the main loop */
         while (!Button.ESCAPE.isPressed ())
         {
             Thread.sleep (DELAY);
             r2 = gyro.getRotation () / SCALE;
             Thread.sleep (DELAY);
 
+            /* Compute current angle (Runge Kutta integration) */
             dt = ((float) System.currentTimeMillis () - t_old) / T_SCALE;
             angle = angle_old + (r1 + 2 * r2) * dt;
             angle_old = angle;
@@ -63,8 +74,10 @@ class SegwayRunner
             r1 = gyro.getRotation () / SCALE;
             t_old = System.currentTimeMillis ();
 
+            /* Useful for debugging */
             printAngle ();
 
+            /* Set motors direction & speed */
             speed = Math.abs ((int) angle) * 20;
             Motor.A.setSpeed (speed);
             Motor.C.setSpeed (speed);
@@ -84,10 +97,14 @@ class SegwayRunner
                 Motor.C.stop ();
             }
         }
+        /* Correctly stop the motors before dying */
         Motor.A.stop ();
         Motor.C.stop ();
     }
 
+    /**
+     * Display current rotation speed (obtained from Gyro)
+     */
     void printRotation ()
     {
         LCD.clear ();
@@ -96,6 +113,9 @@ class SegwayRunner
         LCD.refresh ();
     }
 
+    /**
+     * Display currently computed angle
+     */
     void printAngle ()
     {
         LCD.clear ();
@@ -105,9 +125,15 @@ class SegwayRunner
     }
 }
 
+/**
+ * main () class
+ */
 public class Segway
 {
 
+    /**
+     * Run app: create a Runner object and run it
+     */
     public static void main (String[] args) throws Exception
     {
         SegwayRunner runner = new SegwayRunner (SensorPort.S1);