Initial commit

Adds the beta-version of the toolbox along with examples, a How-To and
convenient documents.

.gitignore

+/deprecated/*

examples/exampleCommLayer.m

+% init the connection
+disp('Connecting ... ')
+% brick usb init
+b = Brick('ioType','usb');
+% beep to indicate connection
+b.beep();
+% print information
+disp('===================================')
+disp('EV3 example code')
+disp('===================================')
+disp('u - increase motor speed')
+disp('d - decrease motor speed')
+disp('t - start the motor')
+disp('s - stop the motor')
+disp('b - beep')
+disp('o - output the tachometer')
+disp('c - clear the tachometer')
+disp('v - output the brick voltage')
+disp('f - quit the program');
+disp('===================================')
+% user intput
+userIn = '';
+% motor power
+motorPower = 10;
+% set motor power and start
+b.outputPower(0,Device.MotorA,motorPower)
+b.outputStart(0,Device.MotorA)
+while(~strcmp(userIn,'f'))
+    % get input
+    userIn = input('> Input(u,d,t,s,b,o,c,v,f): ','s');
+    % increase speed
+    if (userIn == 'u')
+        motorPower = motorPower+10;
+        if motorPower >= 100
+            motorPower = 100;
+        end
+        b.outputPower(0,Device.MotorA,motorPower)
+        disp(['> Motor Power: ' num2str(motorPower)]);
+    end
+     % decrease speed
+    if (userIn == 'd')
+        motorPower = motorPower-10;
+        if motorPower <= -100
+            motorPower = -100;
+        end
+        b.outputPower(0,Device.MotorA,motorPower)
+        disp(['> Motor Power: ' num2str(motorPower)]);
+    end
+    % start the motor
+    if (userIn == 't')
+        b.outputStart(0,Device.MotorA)
+        disp('> Motor Started');
+    end
+    % stop the motor
+    if (userIn == 's')
+        b.outputStop(0,Device.MotorA,0)
+        disp('> Motor Stopped');
+    end
+    % beep test
+    if (userIn == 'b')
+        b.beep();
+        disp('> Beep');
+    end
+    % output the tachometer
+    if (userIn == 'o')
+        tacho = b.outputGetCount(0,Device.MotorA);
+        disp(['> Tachometer: ' num2str(tacho)]);
+    end
+    % clear the tachometer
+    if (userIn == 'c')
+        b.outputClrCount(0,Device.MotorA)
+        disp('> Cleared tacho');
+    end
+    % voltage output
+    if (userIn == 'v')
+        v = b.uiReadVbatt;
+        disp(['> Brick voltage: ' num2str(v) 'V']);
+    end
+end
+% delete the brick object
+delete(b)
\ No newline at end of file

examples/testConnSpeed.m

+function testConnSpeed(ioType, serPort, it, withResponse)
+%testConnSpeed Test connection speed in various modi.
+% This is a test function to test how many packets can be sent and received with bluetooth and
+% usb. MotorB will run at power 10 for 15 seconds. In 'withResponse'-mode, the isRunning() on
+% the brick is polled, therefore on every time step a packet is sent and received. With
+% 'withResponse'-mode turned off, a resetTachoCount is sent on each iteration (without waiting
+% for a reply).
+%
+% * ioType: 'bt' or 'usb'
+% * serPort: 0 if 'usb', else '/dev/rfcommx'
+% * it: number if iterations
+% * withResponse: 0 or 1 
+
+    b = EV3();
+    if strcmp(ioType, 'bt')
+        b.connect('ioType', ioType, 'serPort', serPort);
+    else 
+        b.connect('ioType', 'usb');
+    end
+    
+    m = b.motorB;
+    m.setProperties('power', 10, 'limitMode', 'Time', 'limitValue', 15000);
+    m.resetTachoCount();
+    
+    if withResponse
+        for i = 0:it-1
+            m.start();
+            t = 0;
+            tic;
+            while m.isRunning()
+                t = [t; toc]; 
+            end
+
+            fprintf('Iteration %d\n', i+1);
+            fprintf('\tTime: %fs\n', t(length(t)));
+            fprintf('\tReceived packets: %d\n', length(t));
+            fprintf('\tPackets per sec: %f\n', length(t)/t(length(t)));
+            pause(0.5);
+        end
+    else
+        for i = 0:it-1
+            m.start();
+            t = 0;
+            tic;
+            while t < 15
+                m.resetTachoCount(); % Has no effect but at least sends a packet 
+                t = [t; toc]; 
+            end
+
+            fprintf('Iteration %d\n', i+1);
+            fprintf('\tTime: %fs\n', t(length(t)));
+            fprintf('\tSent packets: %d\n', length(t));
+            fprintf('\tPackets per sec: %f\n', length(t)/t(length(t)));
+            pause(0.5);
+        end
+    end
+    b.disconnect();
+    b.delete();
+
+end
\ No newline at end of file

examples/testSyncMotor.m

+% Connect with physical brick. If battery charge less than 10% abort. Otherwise,
+% create a SyncMotor-object for ports A & B and set some propeties.
+% Turn speed regulation on motors A & B on in order to be able to read speed values later.
+% ('help Motor.speed' for a little more info)
+% Pause program until both motors are connected and then start them.
+% As long as they run, print out current speed of both motors.
+% Finally, disconnect.
+
+clear all;
+
+b = EV3();
+b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm1');
+
+if b.batteryValue < 10
+    fprintf('Battery charge too low.');
+    b.disconnect();
+else
+    s = b.coupleMotors('AB', 'useMotorParams', 0);
+    s.setProperties('Power', 50, 'speedRegulation', 'on', ...
+                      'limitMode', 'Time', 'turnRatio', 50);
+    s.limitValue = 5000;
+    s.brakeMode = 'Coast';
+    b.motorA.speedRegulation = 'on';
+    b.motorB.speedRegulation = 'on';
+    s.mode = DeviceMode.Motor.Rotations;
+    while ~s.motorAtPort
+        s.update();
+        pause(0.5);
+    end
+    s.start();
+    while s.isRunning()
+        fprintf('Speed on A: %d\n',b.motorA.speed);
+        fprintf('Speed on B: %d\n',b.motorB.speed);
+        pause(0.1);
+    end
+    s.disconnect(); s.delete();
+    b.disconnect(); b.delete();
+end

examples/testToolbox.m

+b = EV3('debug', 1);
+b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+
+tic;
+t = 0;
+while 1
+    if b.motorA.motorAtPort && b.motorB.motorAtPort 
+        if b.sensor3.sensorAtPort && b.sensor4.sensorAtPort
+             if b.sensor3.type == DeviceType.Color
+                 b.sensor3.value
+                 break;
+             end
+        end
+    end
+    b.update();
+    t = [t; toc]; 
+end
+
+b.motorA.setProperties('power', 50, 'speedRegulation', 'on', 'smoothStart', 10, 'limitMode', 'time', 'limitValue', 3000);
+b.motorA.start();
+
+while b.motorA.isRunning()
+    b.sensor3.value
+    b.sensor4.value
+    b.motorA.tachoCount
+end
+
+b.motorB.power = 50;
+b.motorB.limitValue = 4*360;
+b.motorB.waitFor();
+
+b.sensor3.value
+b.motorA.tachoCount
+b.sensor3.reset
+b.motorA.tachoCount
+
+b.beep
+
+b.disconnect
+b.delete

libhidapi-libusb.la~

+# libhidapi-libusb.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.2 Debian-2.4.2-1.7ubuntu1
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libhidapi-libusb.so.0'
+
+# Names of this library.
+library_names='libhidapi-libusb.so.0.0.0 libhidapi-libusb.so.0 libhidapi-libusb.so'
+
+# The name of the static archive.
+old_library='libhidapi-libusb.a'
+
+# Linker flags that can not go in dependency_libs.
+inherited_linker_flags=' -pthread'
+
+# Libraries that this one depends upon.
+dependency_libs=' -lrt -lusb-1.0'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libhidapi-libusb.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=no
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/usr/local/MATLAB/R2013b/toolbox/EV3/lib'

source/+DeviceMode/Color.m

+classdef Color < uint8
+    enumeration
+        Reflect (0)
+        Ambient (1)
+        Col (2)
+    end
+end
\ No newline at end of file

source/+DeviceMode/Error.m

+classdef Error < uint8
+    %Error Test
+    
+    enumeration
+        Undefined (0)
+    end
+end
\ No newline at end of file

source/+DeviceMode/Gyro.m

+classdef Gyro < uint8
+    enumeration
+        Angular (0)
+        Rate (1)
+    end
+end
\ No newline at end of file

source/+DeviceMode/InfraRed.m

+classdef InfraRed < uint8
+    enumeration
+        Prox (0)
+        Seek (1)
+        Remote (2)
+    end
+end
\ No newline at end of file

source/+DeviceMode/Motor.m

+classdef Motor < uint8
+    enumeration
+        Degrees (0)
+        Rotations (1)
+        Speed (2)
+    end
+end

source/+DeviceMode/NXTColor.m

+classdef NXTColor < uint8
+    enumeration
+        Reflect (0)
+        Ambient (1)
+        Color (2)
+        Green (3)
+        Blue (4)
+        Raw (5)
+    end
+end
\ No newline at end of file

source/+DeviceMode/NXTLight.m

+classdef NXTLight < uint8
+    enumeration
+        Reflect (0)
+        Ambient (1)
+    end
+end
\ No newline at end of file

source/+DeviceMode/NXTSound.m

+classdef NXTSound < uint8
+    enumeration
+        DB (0)
+        DBA (1)
+    end
+end
+

source/+DeviceMode/NXTTemperature.m

+classdef NXTTemperature < uint8
+    enumeration 
+        C (0)
+        F (1)
+    end
+end
\ No newline at end of file

source/+DeviceMode/NXTTouch.m

+classdef NXTTouch < uint8
+    enumeration
+        Pushed (0)
+        Bumps (1)
+    end
+end
\ No newline at end of file

source/+DeviceMode/NXTUltraSonic.m

+classdef NXTUltraSonic < uint8
+    enumeration 
+        CM (0)
+        IN (1)
+    end
+end
\ No newline at end of file