diff --git a/source/Brick.m b/source/Brick.m
index e952fb7c98c1335f9add58b4e9999cb994e5edc7..3284ae7cd3e6bec2763162cd4a16cd2b6065e87b 100644
--- a/source/Brick.m
+++ b/source/Brick.m
@@ -102,23 +102,23 @@
classdef Brick < handle
properties
- % connection handle
+ % Connection handle
conn;
- % debug input
+ % Debug
debug;
% IO connection type
ioType;
- % bluetooth brick device name
+ % Bluetooth brick device name
btDevice;
- % bluetooth brick communication channel
+ % Bluetooth brick communication channel
btChannel;
- % wifi brick IP address
+ % Wifi brick IP address
wfAddr;
- % wifi brick TCP port
+ % Wifi brick TCP port
wfPort;
- % brick serial number
+ % Brick serial number
wfSN;
- % bluetooth serial port
+ % Bluetooth serial port
serPort;
end
@@ -153,7 +153,7 @@ classdef Brick < handle
% - For instrBrickIO (bluetooth)
% b = Brick('ioType','instrbt','btDevice','EV3','btChannel',1)
- % init the properties
+ % Init the properties
opt.debug = 0;
opt.btDevice = 'EV3';
opt.btChannel = 1;
@@ -236,8 +236,7 @@ classdef Brick < handle
% Example::
% b.send(cmd)
- % send the message through the brickIO write function
-
+ % Send the message through the brickIO write function
brick.conn.write(cmd.msg);
% (MMI) When spamming the brick with commands, at some point, it will start
@@ -246,6 +245,8 @@ classdef Brick < handle
% (Maybe too many commands screw up the brick's internal command queue?..)
% Temporary workaround: Wait 5ms after each sent packet.
pause(0.005);
+
+ % Verbose output
if brick.debug > 0
fprintf('sent (hex): [ ');
for ii=1:length(cmd.msg)
@@ -1545,7 +1546,7 @@ classdef Brick < handle
% Implemented @ MMI
% Still buggy (WIP)
- function [speed tacho] = outputRead(brick,layer,no)
+ function [speed, tacho] = outputRead(brick,layer,no)
% Brick.outputRead(layer,no) Get tacho count and speed.
%
% [speed, tacho] = Brick.outputRead(layer,no) returns the tachometer
diff --git a/source/Command.m b/source/Command.m
index fa20a019e9cd319f61de337630b116194669f6ac..cc2f4723f7dc77faacdf5f3ed87d3bdda70f20ec 100644
--- a/source/Command.m
+++ b/source/Command.m
@@ -581,7 +581,7 @@ classdef Command < handle
end
function GV0(cmd,i)
- % Command.GV0 Add a global constant 0
+ % Command.GV0 Add a global variable 0
%
% Command.GV0(i) adds a global variable 0 to the command
% object.
diff --git a/source/Motor.m b/source/Motor.m
index fc7c25f2515599ad817c6743d25a2680b25ed86e..c3b09d17af34bae8a8b4de584317569818264be4 100644
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -226,7 +226,7 @@ classdef Motor < handle
motor.brick = 0;
motor.isConnected = 0;
- error('Motor::connect: Aborted connection.');
+ error('Motor::connect: Disconnected due to internal error.');
end
end
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
index 56f32fb624b4ec39ab2ba6b1a384a909331408c7..7cd880409687fbb4d4100cfcea7b8ef655521971 100644
--- a/source/btBrickIO.m
+++ b/source/btBrickIO.m
@@ -52,6 +52,7 @@ classdef btBrickIO < BrickIO
brickIO.debug = debug;
brickIO.serialPort = serialPort;
end
+
if brickIO.debug > 0
fprintf('btBrickIO init\n');
end
diff --git a/source/hidapi.m b/source/hidapi.m
index 398c8142478ee5538efc59897e9e4fc79fb2f1c5..1777494bd841812ca7ccecd03c893c8b94566292 100644
--- a/source/hidapi.m
+++ b/source/hidapi.m
@@ -1,7 +1,7 @@
%hidpi Interface to the hidapi library
%
% Methods::
-% hidapi Constructor, loads the hidapi library
+% hidapi Constructor, loads the hidapi library
% delete Destructor, closes any open hid connection
%
% open Open the hid device with vendor and product ID
@@ -64,8 +64,8 @@ classdef hidapi < handle
%
% Throws::
% LoadingLibraryError Could not load .dll/.dylib/.so-file of hidapi
- % InvalidParameterOrFileMissing Either file names given were wrong or the files are missing
- % (e.g. thunk files, proto files, ...)
+ % InvalidFileNameOrFileMissing Either file names given were wrong or the files
+ % are missing (thunk files, proto files, ...)
%
% Notes::
% - debug is a flag specifying output printing (0 or 1).
@@ -100,9 +100,7 @@ classdef hidapi < handle
hid.slib = 'hidapi32';
% Load the library via the proto file
loadlibrary(hid.slib,@hidapi32_proto,'alias','hidapiusb')
- end
-
- if (strcmp(mexext,'mexw64'))
+ elseif (strcmp(mexext,'mexw64'))
hid.slib = 'hidapi64';
% Load the library via the proto file
loadlibrary(hid.slib,@hidapi64_proto,'alias','hidapiusb')
@@ -196,7 +194,7 @@ classdef hidapi < handle
% constructor.
%
% Throws::
- % CommError Error during communication with device
+ % CommError Error during communication with device
%
% Notes::
% - The pointer return value from this library call is always
@@ -236,7 +234,7 @@ classdef hidapi < handle
% when deleting the hid instance.
%
% Throws::
- % InvalidHandle Handle to USB-device not valid
+ % InvalidHandle Handle to USB-device not valid
%
if hid.debug > 0
@@ -262,8 +260,8 @@ classdef hidapi < handle
% read bytes. Will print an error if no data was read.
%
% Throws::
- % CommError Error during communication with device
- % InvalidHandle Handle to USB-device not valid
+ % CommError Error during communication with device
+ % InvalidHandle Handle to USB-device not valid
%
if hid.debug > 0
@@ -300,8 +298,8 @@ classdef hidapi < handle
% number of bytes written.
%
% Throws::
- % CommError Error during communication with device
- % InvalidHandle Handle to USB-device not valid
+ % CommError Error during communication with device
+ % InvalidHandle Handle to USB-device not valid
%
if hid.debug > 0
@@ -342,8 +340,8 @@ classdef hidapi < handle
% from the hid device
%
% Throws::
- % CommError Error during communication with device
- % InvalidHandle Handle to USB-device not valid
+ % CommError Error during communication with device
+ % InvalidHandle Handle to USB-device not valid
%
% Notes::
% - info is the hid information string.
@@ -384,8 +382,8 @@ classdef hidapi < handle
% the hid device connection.
%
% Throws::
- % CommError Error during communication with device
- % InvalidHandle Handle to USB-device not valid
+ % CommError Error during communication with device
+ % InvalidHandle Handle to USB-device not valid
%
% Notes::
% nonblock - 0 disables nonblocking, 1 enables nonblocking
@@ -415,7 +413,7 @@ classdef hidapi < handle
% automatically in the library itself with the open function.
%
% Throws::
- % CommError Error during communication with device
+ % CommError Error during communication with device
%
% Notes::
% - You should not have to call this function directly.
@@ -442,7 +440,7 @@ classdef hidapi < handle
% hid.exit() exits the hidapi library.
%
% Throws::
- % CommError Error during communication with device
+ % CommError Error during communication with device
%
% Notes::
% - You should not have to call this function directly.
@@ -470,7 +468,7 @@ classdef hidapi < handle
% produced an error.
%
% Throws::
- % InvalidHandle Handle to USB-device not valid
+ % InvalidHandle Handle to USB-device not valid
%
% Notes::
% - This function must be called explicitly if you think an
diff --git a/source/usbBrickIO.m b/source/usbBrickIO.m
index 91e59d20f0f2eae411c7d9382df8e1c94ffda4d0..309cc05f57f93c835b25f6e6685f7c25471da95c 100644
--- a/source/usbBrickIO.m
+++ b/source/usbBrickIO.m
@@ -49,9 +49,7 @@ classdef usbBrickIO < BrickIO
if nargin == 0
brickIO.debug = 0;
- end
-
- if nargin > 0
+ else
brickIO.debug = varargin{1};
end
@@ -256,4 +254,4 @@ classdef usbBrickIO < BrickIO
end
end
end
-end
\ No newline at end of file
+end