diff --git a/source/EV3.m b/source/EV3.m
index e371dd66ab9b8d7cec88b2365f0b4fa55dd4a744..ec1a8c08dac5b71e7b49c2429afbd70ee6ca6dc4 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -108,9 +108,6 @@ classdef EV3 < handle
properties (SetAccess = 'private') % Read-only properties that are set internally
%isConnected - Virtual brick connected to physical one?
isConnected = false;
-
- %commInterface - Interface to communication layer
- commInterface = 0;
%% Motors and Sensors
@@ -125,6 +122,11 @@ classdef EV3 < handle
sensor4;
end
+ properties (Access = 'private')
+ %commInterface - Interface to communication layer
+ commInterface = 0;
+ end
+
properties (Hidden, Access = 'private') % Hidden properties for internal use only
init = true; % Indicates 'init-phase' (Set to 1 as long as constructor is running)
end
diff --git a/source/Motor.m b/source/Motor.m
index 35172e164be9aea536e951cab4cb6adc3cf1f48b..b46b1932741b7d9369fd2af1f59753f25d099f59 100644
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -58,21 +58,21 @@ classdef Motor < handle & dynamicprops
% -> Any valid boolean (0/1/'on'/'off'/true/false)
speedRegulation;
- %smoothStart - Degrees/Time for how far/long the motor should smoothly start (depends on tachoLimitMode)
- % -> Any numeric in [0, tachoLimit]
+ %smoothStart - Degrees/Time for how far/long the motor should smoothly start (depends on limitMode)
+ % -> Any numeric in [0, limitValue]
smoothStart;
- %smoothStop - Degrees/Time for how far/long the motor should smoothly stop (depends on tachoLimitMode)
- % -> Any numeric in [0, tachoLimit]
+ %smoothStop - Degrees/Time for how far/long the motor should smoothly stop (depends on limitMode)
+ % -> Any numeric in [0, limitValue]
smoothStop;
- %tachoLimit - Degrees/Time for how far/long the motor should run (depends on tachoLimitMode)
- % -> Any numeric >= 0 (in ms, if tachoLimitMode = 'Time')
- tachoLimit;
+ %limitValue- Degrees/Time for how far/long the motor should run (depends on limitMode)
+ % -> Any numeric >= 0 (in ms, if limitMode = 'Time')
+ limitValue;
- %tachoLimitMode - Mode for motor limit
+ %limitMode - Mode for motor limit
% -> 'Tacho' / 'Time'
- tachoLimitMode;
+ limitMode;
%brakeMode - Mode for braking
% -> 'Brake' / 'Coast'
@@ -126,7 +126,7 @@ classdef Motor < handle & dynamicprops
% to the Brick right before starting it next time
sendPowerOnSet = true; % Indicates whether power parameter should be sent to the Brick
% immediately after setting it
- limitSetToZero = false; % Indicates whether tachoLimit has been set to zero
+ limitSetToZero = false; % Indicates whether limitValue has been set to zero
% (workaround for a bug, see motor.start, Note 2)
init = true; % Indicates 'init-phase' (True as long as constructor is running)
end
@@ -172,6 +172,8 @@ classdef Motor < handle & dynamicprops
% However, this does not even work all the time. If motor does not
% start, call stop() and setPower() manually. :/
%
+
+ % Check connection and if motor is already running
if ~motor.connectedToBrick
error(['Motor::start: Motor-Object not connected to comm handle.',...
'You have to call motor.connect(commInterface) first!']);
@@ -182,15 +184,21 @@ classdef Motor < handle & dynamicprops
error('Motor::start: Motor is already runnning!');
end
+ % If motor has been started synced with another, and it stopped 'itself' (when
+ % using a tacholimit), the sync cache has to be deleted (in general, syncedStop
+ % would do so)
if motor.isSynced
delete(motor.findprop('syncCache'));
end
+ % Trigger warning if power = 0 (as it still sets the motor internally in a
+ % 'running' mode
if motor.power == 0
warning('Motor::start: Motor starting with power=0.');
end
- if motor.tachoLimit==0
+ % Call right function in commInterface depending on limitValue and limitMode
+ if motor.limitValue==0
if motor.sendPowerOnNextStart
if motor.limitSetToZero
motor.stop();
@@ -205,10 +213,10 @@ classdef Motor < handle & dynamicprops
fprintf('(DEBUG) Motor::start: Called outputStart on Port %s\n', port2str('Motor', motor.port));
end
else
- if strcmpi(motor.tachoLimitMode, 'Tacho')
+ if strcmpi(motor.limitMode, 'Tacho')
if motor.speedRegulation
motor.commInterface.outputStepSpeed(0, motor.port, motor.power,...
- motor.smoothStart, motor.tachoLimit, motor.smoothStop,...
+ motor.smoothStart, motor.limitValue, motor.smoothStop,...
motor.brakeMode_);
if motor.debug
@@ -217,7 +225,7 @@ classdef Motor < handle & dynamicprops
end
else
motor.commInterface.outputStepPower(0, motor.port, motor.power,...
- motor.smoothStart, motor.tachoLimit, motor.smoothStop,...
+ motor.smoothStart, motor.limitValue, motor.smoothStop,...
motor.brakeMode_);
if motor.debug
@@ -225,10 +233,10 @@ classdef Motor < handle & dynamicprops
port2str('Motor', motor.port));
end
end
- elseif strcmpi(motor.tachoLimitMode, 'Time')
+ elseif strcmpi(motor.limitMode, 'Time')
if motor.speedRegulation
motor.commInterface.outputTimeSpeed(0, motor.port, motor.power,...
- motor.smoothStart, motor.tachoLimit, motor.smoothStop,...
+ motor.smoothStart, motor.limitValue, motor.smoothStop,...
motor.brakeMode_);
if motor.debug
@@ -237,7 +245,7 @@ classdef Motor < handle & dynamicprops
end
else
motor.commInterface.outputTimePower(0, motor.port, motor.power,...
- motor.smoothStart, motor.tachoLimit, motor.smoothStop,...
+ motor.smoothStart, motor.limitValue, motor.smoothStop,...
motor.brakeMode_);
if motor.debug
@@ -278,7 +286,7 @@ classdef Motor < handle & dynamicprops
% brick. So, for example, changing the power on the master motor will take effect
% on the slave as soon as this method is called.
% The following parameters will be affected on the slave: power, brakeMode,
- % tachoLimit, speedRegulation
+ % limitValue, speedRegulation
%
% Arguments
% * syncMotor (the other motor object to sync with)
@@ -366,22 +374,22 @@ classdef Motor < handle & dynamicprops
% Keep 'slave'-motor synchronized
syncMotor.speedRegulation = false;
- syncMotor.tachoLimit = motor.tachoLimit;
+ syncMotor.limitValue= motor.limitValue;
syncMotor.brakeMode = motor.brakeMode;
syncMotor.power = motor.power;
- if strcmpi(motor.tachoLimitMode, 'Tacho')
+ if strcmpi(motor.limitMode, 'Tacho')
motor.commInterface.outputStepSync(0, motor.port+syncMotor.port, ...
motor.power, turnRatio, ...
- motor.tachoLimit, motor.brakeMode_);
+ motor.limitValue, motor.brakeMode_);
if motor.debug
fprintf(['(DEBUG) SyncMotor::syncedStart: Called outputStepSync on ' ,...
'Ports %s and %s.\n'], port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
end
- elseif strcmpi(motor.tachoLimitMode, 'Time')
+ elseif strcmpi(motor.limitMode, 'Time')
motor.commInterface.outputTimeSync(0, motor.port+syncMotor.port, ...
motor.power, turnRatio, ...
- motor.tachoLimit, motor.brakeMode_);
+ motor.limitValue, motor.brakeMode_);
if motor.debug
fprintf('(DEBUG) SyncMotor::start: Called outputStepSync on Ports %s and %s.\n',...
port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
@@ -443,20 +451,21 @@ classdef Motor < handle & dynamicprops
% outputReady returns in less than a second, another while-loop iterates until
% the motor has stopped, this time using motor.isRunning() (this only works as
% long as not both OutputTest and OutputReady are buggy).
+ % * Workaround: Poll isRunning (which itself return (speed>0)) until it is false
+ % -> No need to check if motor is connected as speed correctly
+ % returns 0 if it's not
%
if ~motor.connectedToBrick
error(['Motor::waitFor: Motor-Object not connected to comm handle.',...
'You have to call motor.connect(commInterface) first!']);
- elseif ~motor.physicalMotorConnected
- error('Motor::waitFor: No physical motor connected to Port %s',...
- port2str('Motor', motor.port));
end
+ pause(0.1);
while motor.isRunning
- pause(0.5);
+ pause(0.03);
end
-% elseif ~motor.tachoLimit
+% elseif ~motor.limitValue
% error(['Motor::waitFor: Motor has no tacho limit. ' ,...
% 'Can''t reliably determine whether it is running or not.']);
% end
@@ -493,7 +502,9 @@ classdef Motor < handle & dynamicprops
% motor is running with a tacho limit, internally it uses another counter than the
% one read by tachoCount. This internal tacho count needs to be reset if you
% physically change the motor's position.
+ %
% See also MOTOR.RESETTACHOCOUNT
+ %
if ~motor.connectedToBrick
error(['Motor::reset: Motor-Object not connected to brick handle.',...
@@ -516,7 +527,9 @@ classdef Motor < handle & dynamicprops
% Compared to motor.reset, this resets the 'sensor mode' tacho count, a second
% tacho counter. This counter is used for reading the tacho count with inputRead
% and outputGetCount (via motor.tachoCount).
+ %
% See also MOTOR.RESET
+ %
if ~motor.connectedToBrick
error(['Motor::resetTachoCount: Motor-Object not connected to comm handle.',...
@@ -570,9 +583,9 @@ classdef Motor < handle & dynamicprops
error('Motor::set.smoothStart: Smooth start steps are out of bounds.');
end
- if ~isempty(motor.tachoLimit) && steps>motor.tachoLimit
+ if ~isempty(motor.limitValue) && steps>motor.limitValue
warning(['Motor::set.smoothStart: Smooth start steps are greater than ',...
- 'tachoLimit.']);
+ 'limitValue.']);
end
motor.smoothStart = steps;
@@ -586,9 +599,9 @@ classdef Motor < handle & dynamicprops
error('Motor::set.smoothStop: Smooth stop steps are out of bounds.');
end
- if ~isempty(motor.tachoLimit) && steps>motor.tachoLimit
+ if ~isempty(motor.limitValue) && steps>motor.limitValue
error(['Motor::set.smoothStop: Smooth stop steps are greater than ',...
- 'tachoLimit.']);
+ 'limitValue.']);
end
motor.smoothStop = steps;
@@ -604,48 +617,48 @@ classdef Motor < handle & dynamicprops
end
end
- function set.tachoLimitMode(motor, tachoLimitMode)
+ function set.limitMode(motor, limitMode)
validModes = {'Time', 'Tacho'};
- if ~ischar(tachoLimitMode) || ~ismember(tachoLimitMode, validModes)
- error('Motor::set.tachoLimitMode: Given parameter is not a valid limit mode.');
+ if ~ischar(limitMode) || ~ismember(limitMode, validModes)
+ error('Motor::set.limitMode: Given parameter is not a valid limit mode.');
else
- motor.tachoLimitMode = tachoLimitMode;
+ motor.limitMode = limitMode;
end
end
- function set.tachoLimit(motor, tachoLimit)
- if ~isnumeric(tachoLimit)
- error('Motor::set.tachoLimit: Given parameter is not a numeric.');
- elseif tachoLimit<0
- warning('Motor::set.tachoLimit: tachoLimit has to be positive!');
- error('Motor::set.tachoLimit: Given tachoLimit is out of bounds.');
- elseif any(motor.tachoLimit)
- if tachoLimit==0 && motor.tachoLimit~=0
+ function set.limitValue(motor, limitValue)
+ if ~isnumeric(limitValue)
+ error('Motor::set.limitValue: Given parameter is not a numeric.');
+ elseif limitValue<0
+ warning('Motor::set.limitValue: limitValue has to be positive!');
+ error('Motor::set.limitValue: Given limitValue is out of bounds.');
+ elseif any(motor.limitValue)
+ if limitValue==0 && motor.limitValue~=0
motor.sendPowerOnNextStart = true;
motor.limitSetToZero = true;
motor.sendPowerOnSet = true;
- elseif tachoLimit~=0 && motor.tachoLimit==0
+ elseif limitValue~=0 && motor.limitValue==0
motor.sendPowerOnSet = false;
end
end
- motor.tachoLimit = tachoLimit;
+ motor.limitValue= limitValue;
end
function set.port(motor, port)
- if ~isPortStrValid(class(motor), port)
- error('Motor::set.port: Given parameter is not a valid port string.');
- else
+ try
motor.port = str2PortParam(class(motor), port);
+ catch ME
+ error('Motor::set.port: Given parameter is not valid port string.');
end
end
function set.commInterface(motor, comm)
if ~isCommInterfaceValid(comm)
error('Motor::set.commInterface: Handle to commInterface not valid.');
- else
- motor.commInterface = comm;
end
+
+ motor.commInterface = comm;
end
function set.debug(motor, debug)
@@ -661,22 +674,22 @@ classdef Motor < handle & dynamicprops
%
% Arguments
% * 'debug', bool
- % * 'smoothStart', numeric in [0, tachoLimit]
- % * 'smoothStop', numeric in [0, tachoLimit]
+ % * 'smoothStart', numeric in [0, limitValue]
+ % * 'smoothStop', numeric in [0, limitValue]
% * 'speedRegulation', bool
% * 'brakeMode', 'Coast'/'Brake'
- % * 'tachoLimitMode', 'Time'/'Tacho'
- % * 'limit', numeric > 0
+ % * 'limitMode', 'Time'/'Tacho'
+ % * 'limitValue', numeric > 0
% * 'power', numeric in [-100,100]
% * 'batteryMode', 'Voltage'/'Percentage'
%
% Example
% b = EV3();
% b.connect('bt', 'serPort', '/dev/rfcomm0');
- % b.motorA.setProperties('debug', 'on', 'power', 50, 'limit', 720, 'speedRegulation', 'on');
+ % b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on');
% % Instead of: b.motorA.debug = 'on';
% % b.motorA.power = 50;
- % % b.motorA.limit = 720;
+ % % b.motorA.limitValue = 720;
% % b.motorA.speedRegulation = 'on';
%
p = inputParser();
@@ -696,8 +709,8 @@ classdef Motor < handle & dynamicprops
defaultDebug = motor.debug;
defaultSpeedReg = motor.speedRegulation;
defaultBrakeMode = motor.brakeMode;
- defaultLimitMode = motor.tachoLimitMode;
- defaultLimit = motor.tachoLimit;
+ defaultLimitMode = motor.limitMode;
+ defaultLimit = motor.limitValue;
defaultPower = motor.power;
defaultSmoothStart = motor.smoothStart;
defaultSmoothStop = motor.smoothStop;
@@ -710,8 +723,8 @@ classdef Motor < handle & dynamicprops
p.addOptional('debug', defaultDebug);
p.addOptional('speedRegulation', defaultSpeedReg);
p.addOptional('brakeMode', defaultBrakeMode)
- p.addOptional('tachoLimitMode', defaultLimitMode);
- p.addOptional('tachoLimit', defaultLimit);
+ p.addOptional('limitMode', defaultLimitMode);
+ p.addOptional('limitValue', defaultLimit);
p.addOptional('power', defaultPower);
p.addOptional('smoothStart', defaultSmoothStart);
p.addOptional('smoothStop', defaultSmoothStop);
@@ -723,14 +736,17 @@ classdef Motor < handle & dynamicprops
if motor.init
motor.port = p.Results.port;
end
- motor.tachoLimit = p.Results.tachoLimit;
- motor.tachoLimitMode = p.Results.tachoLimitMode;
- motor.power = p.Results.power;
+ motor.limitValue= p.Results.limitValue;
+ motor.limitMode = p.Results.limitMode;
motor.brakeMode = p.Results.brakeMode;
motor.debug = p.Results.debug;
motor.speedRegulation = p.Results.speedRegulation;
motor.smoothStart = p.Results.smoothStart;
motor.smoothStop = p.Results.smoothStop;
+
+ motor.sendPowerOnSet = false;
+ motor.power = p.Results.power;
+ motor.sendPowerOnSet = true;
end
%% Getter
@@ -798,32 +814,6 @@ classdef Motor < handle & dynamicprops
end
methods (Access = 'private') % Private brick functions that are wrapped by dependent params
- function running = getMotorStatus(motor)
- %isRunning Returns whether motor is running (WITH TACHOLIMIT) or not.
- %
- % Notes:
- % * This *mostly* works. Sometimes this falsely returns 0 if isRunning() gets
- % called immediately after starting the motor.
- %
-
- if ~motor.connectedToBrick
- error(['Motor::isRunning: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
-% elseif ~motor.physicalMotorConnected
-% error('Motor::isRunning: No physical motor connected to Port %s',...
-% port2str('Motor', motor.port));
- elseif ~motor.tachoLimit
- warning(['Motor::isRunning: Motor has no tacho limit. ' ,...
- 'Can''t reliably determine whether it is running or not.']);
- end
-
- running = motor.commInterface.outputTest(0, motor.port);
-
- if motor.debug
- fprintf('(DEBUG) Motor::isRunning: Called outputReady on Port %s\n', port2str('Motor', motor.port));
- end
- end
-
function setPower(motor, power)
%setPower Sets given power value on the physical Brick.
%
@@ -836,45 +826,41 @@ classdef Motor < handle & dynamicprops
%
if ~motor.connectedToBrick
error(['Motor::getTachoCount: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
-% elseif ~motor.physicalMotorConnected
-% error('Motor::getTachoCount: No physical motor connected to Port %s',...
-% port2str('Motor', motor.port));
+ 'You have to call motor.connect(commInterface) first!']);
+ elseif ~motor.physicalMotorConnected
+ error('Motor::getTachoCount: No physical motor connected to Port %s',...
+ port2str('Motor', motor.port));
end
- if motor.tachoLimit~=0 && motor.isRunning
- warning(['Motor::setPower: Can''t set power if motor is running with a ',...
- 'tacholimit. This would mess up the internal tacho state.']);
- return;
+ assert(motor.limitValue==0);
+
+ if motor.speedRegulation
+ motor.commInterface.outputSpeed(0, motor.port, power);
+
+ if motor.debug
+ fprintf('(DEBUG) Motor::setPower: Called outputSpeed on Port %s\n', port2str('Motor', motor.port));
+ end
else
- if motor.speedRegulation
- motor.commInterface.outputSpeed(0, motor.port, power);
-
- if motor.debug
- fprintf('(DEBUG) Motor::setPower: Called outputSpeed on Port %s\n', port2str('Motor', motor.port));
- end
- else
- motor.commInterface.outputPower(0, motor.port, power);
-
- if motor.debug
- fprintf('(DEBUG) Motor::setPower: Called outputPower on Port %s\n', port2str('Motor', motor.port));
- end
+ motor.commInterface.outputPower(0, motor.port, power);
+
+ if motor.debug
+ fprintf('(DEBUG) Motor::setPower: Called outputPower on Port %s\n', port2str('Motor', motor.port));
end
end
motor.sendPowerOnNextStart = false;
end
- function setMode(motor, mode)
+ function setMode(motor, mode) %% DEPRECATED
if ~motor.connectedToBrick
error(['Motor::getTachoCount: Motor-Object not connected to comm handle.',...
'You have to call motor.connect(commInterface) first!']);
-% elseif ~motor.physicalMotorConnected
-% error('Motor::getTachoCount: No physical motor connected to Port %s',...
-% port2str('Motor', motor.port));
+ elseif ~motor.physicalMotorConnected
+ error('Motor::getTachoCount: No physical motor connected to Port %s',...
+ port2str('Motor', motor.port));
end
motor.commInterface.inputReadSI(0, motor.portInput, mode); % Reading a value implicitly
- % sets the mode.
+ % sets the mode.
if motor.debug
fprintf('(DEBUG) Motor::setMode: Called inputReadSI on Port %s\n',...
@@ -917,9 +903,6 @@ classdef Motor < handle & dynamicprops
if ~motor.connectedToBrick
error(['Motor::getTachoCount: Motor-Object not connected to comm handle.',...
'You have to call motor.connect(commInterface) first!']);
-% elseif ~motor.physicalMotorConnected
-% error('Motor::getTachoCount: No physical motor connected to Port %s',...
-% port2str('Motor', motor.port));
end
cnt = motor.commInterface.outputGetCount(0, motor.portNo);
@@ -932,9 +915,6 @@ classdef Motor < handle & dynamicprops
if ~motor.connectedToBrick
error(['Motor::getSpeed: Motor-Object not connected to comm handle.',...
'You have to call motor.connect(commInterface) first!']);
-% elseif ~motor.physicalMotorConnected
-% error('Motor::getSpeed: No physical motor connected to Port %s',...
-% port2str('Motor', motor.port));
end
speed = motor.commInterface.inputReadSI(0, motor.portInput, DeviceMode.Motor.Speed);
@@ -943,6 +923,29 @@ classdef Motor < handle & dynamicprops
fprintf('(DEBUG) Motor::getSpeed: Called inputReadSI on Port %s\n', port2str('Motor', motor.port));
end
end
+
+ function running = getMotorStatus(motor)
+ %getMotorStatus Returns whether motor is running (WITH TACHOLIMIT) or not.
+ %
+ % Notes:
+ % * This *mostly* works. Sometimes this falsely returns 0 if isRunning() gets
+ % called immediately after starting the motor.
+ %
+
+ if ~motor.connectedToBrick
+ error(['Motor::isRunning: Motor-Object not connected to comm handle.',...
+ 'You have to call motor.connect(commInterface) first!']);
+ elseif ~motor.tachoLimit
+ warning(['Motor::isRunning: Motor has no tacho limit. ' ,...
+ 'Can''t reliably determine whether it is running or not.']);
+ end
+
+ running = motor.commInterface.outputTest(0, motor.port);
+
+ if motor.debug
+ fprintf('(DEBUG) Motor::isRunning: Called outputReady on Port %s\n', port2str('Motor', motor.port));
+ end
+ end
end
methods (Access = {?EV3})
diff --git a/source/Sensor.m b/source/Sensor.m
index 33a531bebdb5c3cbb2fb79c359ab6ecb9631cd05..7861450044ff3f4eb1c44b7df6d185d416bf7c80 100644
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -115,7 +115,7 @@ classdef Sensor < handle
type = sensor.type;
if ~isModeValid(mode, type)
- error('Sensor::set.mode: Sensor mode is not valid for connected sensor type.');
+ error('Sensor::set.mode: Invalid sensor mode.');
else
sensor.mode = mode;
@@ -245,9 +245,9 @@ classdef Sensor < handle
if ~sensor.connectedToBrick
error(['Sensor::getTachoCount: Sensor-Object not connected to comm handle.',...
'You have to call sensor.connect(commInterface) first!']);
-% elseif ~sensor.physicalSensorConnected
-% error('Sensor::getTachoCount: No physical sensor connected to Port %d',...
-% sensor.port+1);
+ elseif ~sensor.physicalSensorConnected
+ error('Sensor::getTachoCount: No physical sensor connected to Port %d',...
+ sensor.port+1);
end
sensor.commInterface.inputReadSI(0, sensor.port, mode); % Reading a value implicitly