CommunicationInterface.m

classdef CommunicationInterface < handle
    % Brick Interface to Lego Minstorms EV3 brick
    %
    % Methods::
    % brick                 Constructor, establishes communications
    % delete                Destructor, closes connection
    % send                  Send data to the brick
    % receive               Receive data from the brick
    % 
    %
    % uiReadVBatt           Returns battery level as a voltage
    % uiReadLBatt           Returns battery level as a percentage
    %
    % drawTest              Shows the drawing capabilities of the brick
    %
    %
    % soundTest     @MMI:   Returns state of speaker
    % soundReady	@MMI:   Halts the execution of commands on Brick until speakers are ready
    % soundPlayTone         Plays a tone at a volume with a frequency and duration
    % soundStopTone @MMI:   Stops current sound playback
    %
    % beep                  Plays a beep tone with volume and duration
    % playThreeTone         Plays three tones one after the other
    %
    %
    % inputDeviceList          @MMI:    Returns list of sensor types on each port
    % inputDeviceGetName                Returns the device name at a layer and NO
    % inputDeviceGetTypeMode   @MMI:    Returns type and mode of device at a layer and NO
    % inputDeviceSetTypeMode   @MMI:    Sets type and mode of device which is recognized by old
    %                                   type and mode.
    % inputDeviceGetModeName   @MMI:    Returns the device's mode at a layer and NO
    % inputDeviceGetConnection @MMI:	Returns the connection type (=sensor type) at a layer and NO
    % inputDeviceGetMinMax     @MMI:	Returns the min and max SI value of device at a layer and NO
    % inputDeviceGetChanges    @MMI:	Returns positive changes(=button releases) since last clear at a layer and NO
    % inputDeviceGetFormat     @MMI:	Returns no. of datasets, returned data type in
    %                                   active sensor mode, no. of sensor modes and no. of
    %                                   visible sensor modes at a layer and NO
    % inputDeviceGetBumps      @MMI:    Returns negatives changes (=button presses) since last clear at a layer and NO
    % inputDeviceSymbol                 Returns the symbol for the device at a layer, NO and mode
    % inputDeviceClrChanges    @MMI:    Clears changes(&bumps) at a layer and NO
    % inputDeviceClrAll                 Clears all the sensor data at a layer
    % inputReady               @MMI:    Halts the execution of commands on Brick until given devices are ready
    % inputTest                @MMI:    Returns the state of the device at a layer and NO
    % inputRead                @MMI:    Reads a connected sensor at a layer, NO, type and mode in percentage
    % inputReadSI                       Reads a connected sensor at a layer, NO, type and mode in SI units
    %
    % outputStop            Stops motor at a layer, NOS and brake
    % outputStopAll         Stops all the motors
    % outputPower           Sets motor output power at a layer, NOS and speed
    % outputSpeed     @MMI: Sets motor output speed at a layer, NOS and speed
    % outputStart           Starts motor at a layer, NOS and speed
    % outputTest            Returns the state of the motor at a layer and NOS
    % outputStepSpeed       Moves a motor to set position with layer, NOS, speed, 
    %                       ramp up angle, constant angle, ramp down angle and brake
    % outputStepPower @MMI: Moves a motor to set position with layer, NOS, power,
    %                       ramp up angle, constant angle, ramp down angle and brake
    % outputTimeSpeed @MMI: Moves a motor for set time at a layer, NOS, speed,
    %                       ramp up time, constant time, ramp down time and brake
    % outputTimePower @MMI: Moves a motor for set time at a layer, NOS, power,
    %                       ramp up time, constant time, ramp down time and brake
    % outputStepSync  @MMI: Moves two motors synchronized at a layer, NOS,
    %                       power, turn ratio, tacho limit, and brake 
    % outputTimeSync  @MMI: Moves two motors synchronized at a layer, NOS,
    %                       power, turn ratio, time limit, and brake 
    % outputClrCount        Clears a motor tachometer at a  layer and NOS
    % outputGetCount        Returns the tachometer at a layer and NO
    % outputReset     @MMI: 
    % outputRead      @MMI: 
    % outputPolarity  @MMI: Sets a motor's polarity ('rotational direction')
    % outputReady     @MMI: Halts the execution of commands on Brick until given