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moar documentation

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1 parent b78792c commit 62a0e3d61a3f54718558940561ff2ceb21832a85 @bgw bgw committed May 24, 2011
Showing with 12 additions and 6 deletions.
  1. +12 −6 cbc/CBCJVM/src/cbccore/movement/DriveTrain.java
@@ -78,9 +78,12 @@ public void rotateRadians(double radians, double radiansPerSecond) {
/**
* Moves the robot in a piece of a circle.
*
- * @param degrees The piece of the circle defined as a change in the
- * robot's rotation in degrees
- * @param radius The radius of the circle.
+ * @param radians The piece of the circle defined as a change in the
+ * robot's rotation in radians. If degrees, the robot
+ * will move backwards around the circle, otherwise
+ * positive.
+ * @param radius The radius of the circle. If negative, the robot
+ * will move in a CW circle, otherwise a CCW one.
* @param cmps The Centimeters-Per-Second of the center of the robot.
* The maximum value for this is less than maxCmps
* @see #moveCurveRadians
@@ -94,8 +97,11 @@ public void moveCurveDegrees(double degrees, double radius, double cmps) {
* Moves the robot in a piece of a circle.
*
* @param radians The piece of the circle defined as a change in the
- * robot's rotation in radians
- * @param radius The radius of the circle.
+ * robot's rotation in radians. If negative, the robot
+ * will move backwards around the circle, otherwise
+ * positive.
+ * @param radius The radius of the circle. If negative, the robot
+ * will move in a CW circle, otherwise a CCW one.
* @param cmps The Centimeters-Per-Second of the center of the robot.
* The maximum value for this is less than maxCmps
* @see #moveCurveDegrees
@@ -104,7 +110,7 @@ public void moveCurveRadians(double radians, double radius, double cmps) {
double halfOffset = plugin.getTrainWidth() * Math.abs(radians) * .5;
double cm = radians * Math.abs(radius);
double leftCm, rightCm;
- if(radius > 0) { // CCW
+ if(radius > 0) { // CCW
leftCm = cm - halfOffset;
rightCm = cm + halfOffset;
} else { // CW

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