diff --git a/examples/MotorBraking.m b/examples/MotorBraking.m
new file mode 100644
index 0000000000000000000000000000000000000000..47b6f2cb1e999dcef377c0bda4fe43274007cd93
--- /dev/null
+++ b/examples/MotorBraking.m
@@ -0,0 +1,21 @@
+b = EV3('debug', 2);
+b.connect('bt', 'serPort', '/dev/rfcomm0');
+m = b.motorA;
+sl = b.motorB;
+
+m.tachoLimit = 1000;
+m.brakeMode = 'Coast';
+
+counts = [];
+power = [60, 65, 70, 75, 80, 85, 90, 95, 100];
+
+for i=1:length(power)
+ m.resetTachoCount;
+ m.reset;
+ m.power = power(i);
+ m.syncedStart(sl);
+ m.waitFor();
+ counts = [counts, m.tachoCount];
+ b.beep;
+ b.debug = false;
+end
\ No newline at end of file
diff --git a/examples/distancePlotting.m b/examples/distancePlotting.m
new file mode 100644
index 0000000000000000000000000000000000000000..416e8a5c4e5bc441cd3e8f7a778ba84b3106e248
--- /dev/null
+++ b/examples/distancePlotting.m
@@ -0,0 +1,39 @@
+b = EV3('debug', 0);
+b.connect('usb');
+
+s = b.sensor4;
+if s.type ~= DeviceType.UltraSonic
+ error('Connect US-sensor to port 4');
+end
+s.mode = DeviceMode.UltraSonic.DistCM;
+
+readings = [];
+time = [];
+
+tic
+hold on;
+while toc < 20
+ readings = [readings, s.value];
+ time = [time, toc];
+% plot(time, readings)
+% drawnow
+end
+hold off;
+
+fprintf('\nSensor readings per sec: %f\n', length(readings)/time(length(time)));
+
+b.disconnect();
+
+%% Results
+% Bluetooth
+% debug=2, sensor-typ-kontrolle an: 7.5 Readings/sec % worst case
+% debug=1, sensor-typ-kontrolle an: 9.3 readings/sec
+% debug=0, sensor-typ-kontrolle an: 9.6 readings/sec
+% debug=0, sensor-typ-kontrolle aus: 16.5 readings/sec
+% debug=0, sensor-typ-kontrolle aus, plotting aus: 22.5 readings/sec % best case
+% debug=0, sensor-typ-kontrolle an, plotting aus: 10
+% USB
+% debug=2, sensor-typ-kontrolle an: 16.5 readings/sec % worst case
+% debug=0, sensor-typ-kontrolle aus, plotting aus: 100 readings/sec % best case
+%
+% -> NOTIZ AN MICH: TYP KONTROLLE ÜBERDENKEN
diff --git a/examples/exampleCommLayer.m b/examples/exampleCommLayer.m
deleted file mode 100644
index 48f27d257c3a700483d1b3cca6cfd401532448a9..0000000000000000000000000000000000000000
--- a/examples/exampleCommLayer.m
+++ /dev/null
@@ -1,81 +0,0 @@
-% 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
diff --git a/examples/testConnSpeed.m b/examples/testConnSpeed.m
index ea2a6df794a50bcb74e2fa5bdaff8146c55440ed..c0a3630279bac23f1d202085d1eb2910e65ea9de 100644
--- a/examples/testConnSpeed.m
+++ b/examples/testConnSpeed.m
@@ -13,21 +13,22 @@ function testConnSpeed(ioType, serPort, it, withResponse)
b = EV3();
if strcmp(ioType, 'bt')
- b.connect('ioType', ioType, 'serPort', serPort);
+ b.connect(ioType, 'serPort', serPort);
else
- b.connect('ioType', 'usb');
+ b.connect('usb');
end
m = b.motorB;
m.setProperties('power', 10, 'limitMode', 'Time', 'limitValue', 15000);
- m.tachoCount = 0;
+ m.resetTachoCount();
if withResponse
for i = 0:it-1
m.start();
t = 0;
tic;
- while m.isRunning()
+ pause(0.5);
+ while m.isRunning
t = [t; toc];
end
diff --git a/examples/testSyncMotor.m b/examples/testSyncMotor.m
deleted file mode 100644
index c683d61aca989f4c0be657726c0305ae20813e14..0000000000000000000000000000000000000000
--- a/examples/testSyncMotor.m
+++ /dev/null
@@ -1,38 +0,0 @@
-% 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
diff --git a/examples/testToolbox.m b/examples/testToolbox.m
index c955069e00c5ecff539abdbe2cca1fae6e9a6adc..a04346e0a81a98aa306ccd4318fc04d05b0225b8 100644
--- a/examples/testToolbox.m
+++ b/examples/testToolbox.m
@@ -1,24 +1,15 @@
-b = EV3('debug', 1);
-b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
-
+b = EV3();
+b.connect('bt', 'serPort', '/dev/rfcomm0');
+b.sensor3.mode = DeviceMode.Color.Col;
+b.sensor4.mode = DeviceMode.UltraSonic.DistCM;
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.setProperties('power', 50, 'speedRegulation', 'on', 'smoothStart', 10, 'limitMode', ...
+ 'Time', 'limitValue', 3000);
b.motorA.start();
+pause(0.5);
while b.motorA.isRunning()
b.sensor3.value
b.sensor4.value
@@ -27,14 +18,25 @@ end
b.motorB.power = 50;
b.motorB.limitValue = 4*360;
+b.motorB.start();
b.motorB.waitFor();
+b.beep();
-b.sensor3.value
-b.motorA.tachoCount
-b.sensor3.reset
-b.motorA.tachoCount
+b.motorA.speedRegulation = false;
+pause(1);
+b.motorA.syncedStart(b.motorB, 'turnRatio', 200);
+b.motorA.waitFor();
+
+for i=1:10
+ b.sensor3.value
+ b.motorA.tachoCount
+ b.sensor3.reset
+ b.motorA.tachoCount
+end
b.beep
+b.beep
+
b.disconnect
-b.delete
+b.delete
\ No newline at end of file
diff --git a/libhidapi-libusb.la~ b/libhidapi-libusb.la~
deleted file mode 100755
index fb6a07b073cade47ecca6f3bc8f2d5d1a627f5b5..0000000000000000000000000000000000000000
--- a/libhidapi-libusb.la~
+++ /dev/null
@@ -1,41 +0,0 @@
-# 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'
diff --git a/source/+DeviceMode/Error.m b/source/+DeviceMode/Default.m
similarity index 52%
rename from source/+DeviceMode/Error.m
rename to source/+DeviceMode/Default.m
index 244ea15b1858b236b79684e979a2354732ad702b..1efa576db09f94be29fde9dcae251bb0d076abeb 100644
--- a/source/+DeviceMode/Error.m
+++ b/source/+DeviceMode/Default.m
@@ -1,6 +1,4 @@
-classdef Error < uint8
- %Error Test
-
+classdef Default < uint8
enumeration
Undefined (0)
end
diff --git a/source/Brick.m b/source/CommunicationInterface.m
similarity index 95%
rename from source/Brick.m
rename to source/CommunicationInterface.m
index 6927b8a298b77dacd7bd1a517597063c3418efbf..18bca6c83d0eca00caf62e2d609c66f9743454fb 100644
--- a/source/Brick.m
+++ b/source/CommunicationInterface.m
@@ -99,31 +99,37 @@
% b = Brick('ioType','bt','serPort','/dev/rfcomm0')
-classdef Brick < handle
+classdef CommunicationInterface < handle
properties
- % Connection handle
- conn;
% Debug
debug;
+ end
+
+ properties (SetAccess = 'private')
% IO connection type
ioType;
% Bluetooth brick device name
- btDevice;
+ btDevice = '';
% Bluetooth brick communication channel
- btChannel;
+ btChannel = 0;
% Wifi brick IP address
- wfAddr;
+ wfAddr = '';
% Wifi brick TCP port
- wfPort;
+ wfPort = '';
% Brick serial number
- wfSN;
+ wfSN = '';
% Bluetooth serial port
serPort;
end
-
+
+ properties (Hidden, Access = 'private')
+ % Connection handle
+ conn;
+ end
+
methods
- function brick = Brick(varargin)
+ function commInterface = CommunicationInterface(varargin)
% Brick.Brick Create a Brick object
%
% b = Brick(OPTIONS) is an object that represents a connection
@@ -153,53 +159,49 @@ classdef Brick < handle
% - For instrBrickIO (bluetooth)
% b = Brick('ioType','instrbt','btDevice','EV3','btChannel',1)
- % Init the properties
- opt.debug = 0;
- opt.btDevice = 'EV3';
- opt.btChannel = 1;
- opt.wfAddr = '192.168.1.104';
- opt.wfPort = 5555;
- opt.wfSN = '0016533dbaf5';
- opt.ioType = 'usb';
- opt.serPort = '/dev/rfcomm0';
-
- % Read in the options
- opt = tb_optparse(opt, varargin);
- brick.debug = opt.debug;
- brick.ioType = opt.ioType;
+ commInterface.setProperties(varargin{:});
+% % Init the properties
+% opt.debug = 0;
+% opt.btDevice = 'EV3';
+% opt.btChannel = 1;
+% opt.wfAddr = '192.168.1.104';
+% opt.wfPort = 5555;
+% opt.wfSN = '0016533dbaf5';
+% opt.ioType = 'usb';
+% opt.serPort = '/dev/rfcomm0';
+%
+% % Read in the options
+% opt = tb_optparse(opt, varargin);
+% commInterface.debug = opt.debug;
+% commInterface.ioType = opt.ioType;
+
try
- if(strcmp(opt.ioType,'usb')) % USB
- brick.conn = usbBrickIO(brick.debug);
- elseif(strcmp(opt.ioType,'wifi')) % WiFi
- brick.wfAddr = opt.wfAddr;
- brick.wfPort = opt.wfPort;
- brick.wfSN = opt.wfSN;
- brick.conn = wfBrickIO(brick.debug,brick.wfAddr,brick.wfPort,brick.wfSN);
- elseif(strcmp(opt.ioType,'bt')) % Bluetooth
- brick.serPort = opt.serPort;
- brick.conn = btBrickIO(brick.debug,brick.serPort);
- elseif(strcmp(opt.ioType,'instrwifi')) % Instrumentation and Control: WiFi
- brick.wfAddr = opt.wfAddr;
- brick.wfPort = opt.wfPort;
- brick.wfSN = opt.wfSN;
- brick.conn = instrBrickIO(brick.debug,'wf',brick.wfAddr,brick.wfPort,brick.wfSN);
- elseif(strcmp(opt.ioType,'instrbt')) % Instrumentation and Control: Bluetooth
- brick.btDevice = opt.btDevice;
- brick.btChannel = opt.btChannel;
- brick.conn = instrBrickIO(brick.debug,'bt',brick.btDevice,brick.btChannel);
+ if(strcmp(commInterface.ioType,'usb')) % USB
+ commInterface.conn = usbBrickIO(commInterface.debug);
+ elseif(strcmp(commInterface.ioType,'wifi')) % WiFi
+ commInterface.wfAddr = opt.wfAddr;
+ commInterface.wfPort = opt.wfPort;
+ commInterface.wfSN = opt.wfSN;
+ commInterface.conn = wfBrickIO(commInterface.debug,commInterface.wfAddr,commInterface.wfPort,commInterface.wfSN);
+ elseif(strcmp(commInterface.ioType,'bt')) % Bluetooth
+% commInterface.serPort = opt.serPort;
+ commInterface.conn = btBrickIO(commInterface.debug,commInterface.serPort);
+ elseif(strcmp(commInterface.ioType,'instrwifi')) % Instrumentation and Control: WiFi
+ commInterface.wfAddr = opt.wfAddr;
+ commInterface.wfPort = opt.wfPort;
+ commInterface.wfSN = opt.wfSN;
+ commInterface.conn = instrBrickIO(commInterface.debug,'wf',commInterface.wfAddr,commInterface.wfPort,commInterface.wfSN);
+ elseif(strcmp(commInterface.ioType,'instrbt')) % Instrumentation and Control: Bluetooth
+ commInterface.btDevice = opt.btDevice;
+ commInterface.btChannel = opt.btChannel;
+ commInterface.conn = instrBrickIO(commInterface.debug,'bt',commInterface.btDevice,commInterface.btChannel);
end
catch ME
- brick.conn = [];
+ commInterface.conn = [];
rethrow(ME);
end
end
- function set.debug(brick, debug)
- % If debug is set in this layer, also set BrickIO.debug in lower layer
- brick.debug = debug;
- brick.conn.debug = debug;
- end
-
function delete(brick)
% Brick.delete Delete the Brick object
%
@@ -208,7 +210,41 @@ classdef Brick < handle
if isa(brick.conn, 'handle') && isvalid(brick.conn)
brick.conn.delete();
end
- end
+ end
+
+ function set.debug(brick, debug)
+ % If debug is set in this layer, also set BrickIO.debug in lower layer
+ brick.debug = debug;
+ brick.conn.debug = debug;
+ end
+
+ function setProperties(brick, varargin)
+ p = inputParser();
+ p.KeepUnmatched = true;
+
+ % Set default values
+ defaultIOType = 'usb';
+ defaultSerPort = '/dev/rfcomm0';
+ defaultDebug = false;
+
+ % Define anonymous function that will return whether given value in varargin is valid
+ %validTypes = ;
+ checkIOType = @(x) ismember(x, {'usb', 'bt'});
+ checkDebug = @(x) isBool(x);
+
+ % Add parameters
+ p.addRequired('ioType', checkIOType);
+ p.addOptional('serPort', defaultSerPort);
+ p.addOptional('debug', defaultDebug, checkDebug);
+
+ % Parse input...
+ p.parse(varargin{:});
+
+ % Set properties
+ brick.ioType = p.Results.ioType;
+ brick.serPort = p.Results.serPort;
+ brick.debug = p.Results.debug;
+ end
function send(brick, cmd)
% Brick.send Send data to the brick
@@ -230,7 +266,7 @@ classdef Brick < handle
% a delay, some commands may even be bypassed.
% (Maybe too many commands screw up the brick's internal command queue?..)
% Temporary workaround: Wait 5ms after each sent packet.
- pause(0.005);
+ % pause(0.005);
% Verbose output
if brick.debug > 0
@@ -629,7 +665,6 @@ classdef Brick < handle
%
% Example::
% [type,mode] = b.inputDeviceTypeMode(0,SensorPort.Sensor1)
-
cmd = Command();
cmd.addHeaderDirectReply(42,2,0);
cmd.opINPUT_DEVICE_GET_TYPEMODE(layer,no,0,1);
@@ -1316,7 +1351,7 @@ classdef Brick < handle
% - layer is the usb chain layer (usually 0)
% - NOS is a bit field representing output 1 to 4 (0x01, 0x02, 0x04, 0x08)
% - pol is the polarity [-1,0,1], -1 makes the motor run
- % backward, 1 makes the motor run forward, 0 makes the motor
+ % backwards, 1 makes the motor run forwards, 0 makes the motor
% run the opposite direction when starting next time
%
% Example::
diff --git a/source/ConnectionType.m b/source/ConnectionType.m
index df8a552fb4c5040ee230d52adf4937202b1c4bcc..c474df67a2a975f89951d90c2f2e86317dc8e9c8 100644
--- a/source/ConnectionType.m
+++ b/source/ConnectionType.m
@@ -1,7 +1,5 @@
classdef ConnectionType < uint8
%ConnectionType Type resp. status of connection at a certain port.
-
-
enumeration
Unknown (111)
DaisyChain (117)
diff --git a/source/DeviceMode.m b/source/DeviceMode.m
index f131a060edec8a0c7ff551a236a5022f2e6b2a58..146666fcae37a1cfad442d497edc0bbca9a104f9 100644
--- a/source/DeviceMode.m
+++ b/source/DeviceMode.m
@@ -35,7 +35,7 @@ function mode = DeviceMode(type, modeNo)
case DeviceType.InfraRed
mode = DeviceMode.InfraRed(modeNo);
otherwise
- mode = DeviceMode.Error(0); % Need to think about this...
+ mode = DeviceMode.Default.Undefined; % Need to think about this...
end
catch
error('MATLAB:RWTHMindstormsEV3:noclass:DeviceMode:invalidInputValue',...
diff --git a/source/EV3.m b/source/EV3.m
index 2c9032c15b3cc1cf37b0db909e742e64203424cc..ec1a8c08dac5b71e7b49c2429afbd70ee6ca6dc4 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -7,82 +7,107 @@ classdef EV3 < handle
%
% Properties:
% Standard
- % motorA[,B,C,D] -
- % sensor1[,2,3,4] -
- % debug -
+ % motorA[,B,C,D]
+ % sensor1[,2,3,4]
+ % debug - Debug turned on or off
% batteryMode - Mode for reading battery charge
% Dependent
% batteryValue - Current battery charge level
% get-only
% isConnected - Is virtual brick connected to physical one?
- % brick - Brick object from sublayer class Brick -> used as interface to the physical brick.
+ % commInterface - Interface to communication layer
%
% Methods:
- % Standard
- % EV3 -
- % connect - Connects EV3-object and its Motors and Sensors to physical brick via bt or usb.
- % disconnect - Disconnects EV3-object and its Motors and Sensors from physical brick.
- % update - Updates all Motors and Sensors
- % coupleMotors - Creates and connects a SyncMotor-object using two chosen Motor-objects
- % beep - Plays a 'beep' tone on brick.
- % playTone - Plays tone on brick.
- % stopTone - Stops tone currently played.
- % tonePlayed - Tests if a tone is currently played.
- % setProperties - Set multiple EV3 properties at once using MATLAB's inputParser.
+ % General
+ % EV3
+ % connect - Connects EV3-object and its Motors and Sensors to physical brick via bt or usb
+ % disconnect - Disconnects EV3-object and its Motors and Sensors from physical brick
+ % setProperties - Set multiple EV3 properties at once using MATLAB's inputParser
+ % Brick functions
+ % beep - Plays a 'beep' tone on brick
+ % playTone - Plays tone on brick
+ % stopTone - Stops tone currently played
+ % tonePlayed - Tests if a tone is currently played
%
%
% Notes
% * Creating multiple EV3 objects and connecting them to different physical bricks has not
% been thoroughly tested yet, but seems to work on a first glance.
% * When referring to an instance of this class the term 'virtual brick' is used from now
- % on. The LEGO brick itself is referred to as 'physical brick'.
+ % on. The LEGO EV3 brick itself is referred to as 'physical brick'.
%
% Example
- % % This small example connects to the brick, starts motorA with power 50, reads a value
- % % from sensor1, brakes the motor and disconnects again.
- % % This should roughly demonstrate how this toolbox works.
+ % % This small example connects to the brick, starts motorA with power 50 and time-limit
+ % % of 5 seconds. As long as it's running, sensor 1 is read and its readings are plotted
+ % % the end.
%
- % brickObject = EV3();
- % brickObject = EV3('debug', 'on', 'batteryMode', 'Voltage');
- % brickObject.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
- % m = brickObject.motorA;
- % m.power = 50;
- % m.start();
- % s = brickObject.sensor1;
- % s.value
- % m.tachoCount
- % m.brakeMode = 'Brake';
- % m.stop();
- % brickObject.disconnect();
- % delete brickObject;
- % delete m; delete s;
- %
+ %%%%%%%%%%
+ % brickObject = EV3('debug', 'on', 'batteryMode', 'Voltage');
+ % brickObject.connect('bt', 'serPort', '/dev/rfcomm0');
+ %
+ % m = brickObject.motorA;
+ % s = brickObject.sensor1;
+ %
+ % m.setProperties('Power', 50, 'BrakeMode', 'Brake', 'TachoLimitMode', 'Time', ...
+ % 'TachoLimit', 5000);
+ %
+ % if s.type ~= DeviceType.Color
+ % fprintf('Please connect EV3-color-sensor to port 1!\n');
+ % else
+ % s.mode = DeviceMode.Color.Ambient;
+ %
+ % readings = [];
+ % time = [];
+ %
+ % tic;
+ % m.start();
+ % pause(0.5);
+ % while m.isRunning
+ % readings = [readings, s.value];
+ % time = [time toc];
+ % end
+ %
+ % plot(time, readings);
+ % end
+ %
+ % brickObject.disconnect();
+ % brickObject.delete();
+ % clear all
+ %%%%%%%%%%
%
% Signature
% Author: Tim Stadtmann
% Date: 2016/05/19
+ % Updated: 2016/08/15
properties % Standard properties
+ %debug - Debug turned on or off
+ % In debug mode 1 (debug=1/'on'/true), everytime a command is passed to the sublayer
+ % ('communication layer'), there is feedback in the console about what command has been
+ % called. Debug mode 2 (debug=2) enables debug mode in the lower layers. Each packet
+ % sent and received is printed to the console.
+ % -> Any valid boolean (0/1/'on'/'off'/true/false) or 2 (for enabling debugging in
+ % lower layers)
+ debug;
+
%% Modi
%batteryMode - Mode for reading battery charge
% -> 'Percentage' / 'Voltage'
% See also EV3.BATTERYVALUE
- batteryMode = 'Percentage';
-
- %% Debug
-
- debug;
+ batteryMode;
end
properties (Dependent) % Parameters to be read directly from physical brick
- batteryValue; % Current battery status (either in Percentage or Voltage)
+ %batteryValue - Current battery charge
+ % Depending on batteryMode, the reading is either in percentage or voltage.
+ % See also EV3.BATTERYMODE
+ batteryValue;
end
properties (SetAccess = 'private') % Read-only properties that are set internally
- isConnected = 0; % Is virtual brick currently connected to physical brick?
- brick = 0; % Brick object from sub-layer class Brick -> used as interface to the
- % physical brick.
+ %isConnected - Virtual brick connected to physical one?
+ isConnected = false;
%% Motors and Sensors
@@ -97,14 +122,19 @@ 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 = 1; % Indicates 'init-phase' (Set to 1 as long as constructor is running)
+ init = true; % Indicates 'init-phase' (Set to 1 as long as constructor is running)
end
methods % Standard methods
%% Constructor
function ev3 = EV3(varargin)
- % Sets properties of EV3-object and creates Motor- and Sensor-objects with default
+ %EV3 Sets properties of EV3-object and creates Motor- and Sensor-objects with default
% parameters.
%
% Arguments
@@ -113,99 +143,99 @@ classdef EV3 < handle
ev3.setProperties(varargin{:});
- ev3.motorA = Motor('A', 'Debug', ev3.debug);
- ev3.motorB = Motor('B', 'Debug', ev3.debug);
- ev3.motorC = Motor('C', 'Debug', ev3.debug);
- ev3.motorD = Motor('D', 'Debug', ev3.debug);
+ ev3.motorA = Motor('A', 'Debug', ev3.debug>=1);
+ ev3.motorB = Motor('B', 'Debug', ev3.debug>=1);
+ ev3.motorC = Motor('C', 'Debug', ev3.debug>=1);
+ ev3.motorD = Motor('D', 'Debug', ev3.debug>=1);
- ev3.sensor1 = Sensor('1', 'Debug', ev3.debug);
- ev3.sensor2 = Sensor('2', 'Debug', ev3.debug);
- ev3.sensor3 = Sensor('3', 'Debug', ev3.debug);
- ev3.sensor4 = Sensor('4', 'Debug', ev3.debug);
+ ev3.sensor1 = Sensor('1', 'Debug', ev3.debug>=1);
+ ev3.sensor2 = Sensor('2', 'Debug', ev3.debug>=1);
+ ev3.sensor3 = Sensor('3', 'Debug', ev3.debug>=1);
+ ev3.sensor4 = Sensor('4', 'Debug', ev3.debug>=1);
- ev3.init = 0;
+ ev3.init = false;
end
function delete(ev3)
- if ev3.isConnected
- ev3.disconnect();
- end
+ %delete Disconnects from physical brick and deletes this instance
+
+ if ev3.isConnected
+ ev3.disconnect();
+ end
end
+
%% Connection
function connect(ev3, varargin)
%connect Connects EV3-object and its Motors and Sensors to physical brick.
%
% Arguments
- % * 'beep', 'on'/'off': EV3 beeps if connection has been established.
- % * 'ioType', 'bt'/'usb': Connection type
- % * ['ioType', 'bt'] 'serPort', '/dev/rfcommx': Path to serial port
+ % * 'bt'/'usb': Connection type
+ % * 'serPort', '/dev/rfcommx': Path to serial port (if 'bt'), where x = 0...9
+ % * 'beep', bool: EV3 beeps if connection has been established.
%
% Examples
- % b = EV3(); b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
- % b = EV3(); b.connect('beep', 'on', ''ioType', 'usb');
+ % b = EV3(); b.connect('bt', 'serPort', '/dev/rfcomm0');
+ % b = EV3(); b.connect('usb', 'beep', 'on', );
%
% Check connection
if ev3.isConnected
- if isBrickValid(ev3.brick)
+ if isCommInterfaceValid(ev3.commInterface)
error('EV3::connect: Already connected.');
else
warning(['EV3::connect: EV3.isConnected is set to ''True'', but ',...
- 'brick handle is invalid. Deleting invalid handle and ' ,...
+ 'comm handle is invalid. Deleting invalid handle and ' ,...
'resetting EV3.isConnected now...']);
- ev3.brick = 0;
- ev3.isConnected = 0;
+ ev3.commInterface = 0;
+ ev3.isConnected = false;
end
end
- % Interpret arguments
- if nargin < 3
+ if nargin < 2
error('EV3::connect: Wrong number of input arguments.');
end
- beep = 0;
- if strcmpi(varargin{1}, 'beep')
- if strcmpi(varargin{2}, 'on')
- beep = 1;
- elseif ~strcmpi(varargin{2}, 'off')
- % First argument was beep, but second one was neither 'true' nor
- % 'false'
- warning(['EV3::connect: The parameter after "beep" has to be either ',...
- '"true" or "false"']);
- error('EV3::connect: Wrong input arguments.');
+
+ idxes = strcmpi('beep', varargin);
+ idx = find([0, idxes(1:end-1)]);
+ if ~isempty(idx)
+ beep = varargin{idx}; %#ok<FNDSB>
+ if ~isBool(beep)
+ error('EV3::connect: Argument after ''beep'' has to be a bool.');
end
- varargin = varargin(3:end); % Cut beep-part off
+ else
+ beep = false;
end
% Try to connect
try
% Connect to physical brick
- % -> Creating Brick-object implicitly establishes connection
- ev3.brick = Brick('debug', ev3.debug>=2, varargin{1:end});
- ev3.isConnected = 1;
+ % -> Creating communication-handle implicitly establishes connection
+ ev3.commInterface = CommunicationInterface(varargin{:}, 'debug', ev3.debug>=2);
+ ev3.isConnected = true;
if beep
ev3.beep();
end
% Connect motors
- ev3.motorA.connect(ev3.brick);
- ev3.motorB.connect(ev3.brick);
- ev3.motorC.connect(ev3.brick);
- ev3.motorD.connect(ev3.brick);
+ ev3.motorA.connect(ev3.commInterface);
+ ev3.motorB.connect(ev3.commInterface);
+ ev3.motorC.connect(ev3.commInterface);
+ ev3.motorD.connect(ev3.commInterface);
% Connect sensors
- ev3.sensor1.connect(ev3.brick);
- ev3.sensor2.connect(ev3.brick);
- ev3.sensor3.connect(ev3.brick);
- ev3.sensor4.connect(ev3.brick);
+ ev3.sensor1.connect(ev3.commInterface);
+ ev3.sensor2.connect(ev3.commInterface);
+ ev3.sensor3.connect(ev3.commInterface);
+ ev3.sensor4.connect(ev3.commInterface);
catch ME
% Something went wrong...
- ev3.isConnected = 0;
- if isBrickValid(ev3.brick) && ev3.brick ~= 0
- ev3.brick.delete();
- ev3.brick = 0;
+ ev3.isConnected = false;
+ if isCommInterfaceValid(ev3.commInterface) && ev3.commInterface ~= 0
+ ev3.commInterface.delete();
+ ev3.commInterface = 0;
end
rethrow(ME);
@@ -217,154 +247,42 @@ classdef EV3 < handle
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% % do stuff
% b.disconnect();
%
-% if ~ev3.isConnected
-% error('EV3::connect: No brick connected.');
-% end
-
- % Disconnect motors
- % -> set references to brick object to 0
+ % Disconnect motors and sensors
+ % -> set references to comm handle to 0
ev3.motorA.disconnect();
ev3.motorB.disconnect();
ev3.motorC.disconnect();
ev3.motorD.disconnect();
- % Disconnect sensors
- % -> set references to brick object to 0
ev3.sensor1.disconnect();
ev3.sensor2.disconnect();
ev3.sensor3.disconnect();
ev3.sensor4.disconnect();
- % Delete handle to brick object
- if isBrickValid(ev3.brick) && ev3.brick ~= 0
- ev3.brick.delete();
+ % Delete handle to comm-interface
+ if isCommInterfaceValid(ev3.commInterface) && ev3.commInterface ~= 0
+ ev3.commInterface.delete();
end
- ev3.brick = 0;
+ ev3.commInterface = 0;
- ev3.isConnected = 0;
+ ev3.isConnected = false;
end
- function update(ev3)
- %update Updates all Motors and Sensors to current status of their corresponding ports.
- %
- % Example
- % b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
- % % Connect some new motors and sensors, disconnect some others (in 'real life')
- % b.update();
- % % Now, virtual brick knows about all new devices and commands can be sent to
- % % them
- %
+ %% Device functions
+ function stopAllMotors(ev3)
+ %stopAllMotors Sends a stop-command to all motor-ports
if ~ev3.isConnected
- error('EV3::update: No brick connected.');
- end
-
- ev3.motorA.update();
- ev3.motorB.update();
- ev3.motorC.update();
- ev3.motorD.update();
-
- ev3.sensor1.update();
- ev3.sensor2.update();
- ev3.sensor3.update();
- ev3.sensor4.update();
- end
-
- %% System functions
- function syncMotor = coupleMotors(ev3, varargin)
- %coupleMotors Creates and connects a SyncMotor-object using two chosen Motor-objects.
- %
- % Notes
- % * Right now only possible if connection to Brick has been established.
- %
- % Arguments
- % * port ('AB','BA', ...): Motors to 'couple'
- % * 'useMotorParams', 0/1/'on'/'off'/'true'/'false': Use first motor's or set own params
- % * varargin: other Properties for Motor/SyncMotor (see
- % (Sync-)Motor::setProperties(motor, varargin))
- %
- % Example
- % b = EV3(); b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
- % sync = b.coupleMotors('AB'); % Couple motors A and B using parameters of
- % % Motor-object motorA.
- % sync2 = b.coupleMotors('CD', 'useMotorParams', 0, 'power', 50, 'debug', 'on');
- % % Couple motors C and D with new object being
- % % initialized with default resp. given parameters.
- %
-
- if ~ev3.isConnected
- error('EV3::update: No brick connected.');
- end
-
- % Check input arguments
- p = inputParser();
- p.KeepUnmatched = 1;
- p.addRequired('port', @(x) isPortValid('SyncMotor', x));
- p.addOptional('useMotorParams', 1, @(x) isBool(x));
- p.parse(varargin{:});
-
- useMotorParams = str2bool(p.Results.useMotorParams);
- if strcmpi(p.Results.port, 'AB')
- motor1 = ev3.motorA;
- motor2 = ev3.motorB;
- elseif strcmpi(p.Results.port, 'BA')
- motor1 = ev3.motorB;
- motor2 = ev3.motorA;
- elseif strcmpi(p.Results.port, 'AC')
- motor1 = ev3.motorA;
- motor2 = ev3.motorC;
- elseif strcmpi(p.Results.port, 'CA')
- motor1 = ev3.motorC;
- motor2 = ev3.motorA;
- elseif strcmpi(p.Results.port, 'AD')
- motor1 = ev3.motorA;
- motor2 = ev3.motorD;
- elseif strcmpi(p.Results.port, 'DA')
- motor1 = ev3.motorD;
- motor2 = ev3.motorA;
- elseif strcmpi(p.Results.port, 'BC')
- motor1 = ev3.motorB;
- motor2 = ev3.motorC;
- elseif strcmpi(p.Results.port, 'CB')
- motor1 = ev3.motorC;
- motor2 = ev3.motorB;
- elseif strcmpi(p.Results.port, 'BD')
- motor1 = ev3.motorB;
- motor2 = ev3.motorD;
- elseif strcmpi(p.Results.port, 'DB')
- motor1 = ev3.motorD;
- motor2 = ev3.motorB;
- elseif strcmpi(p.Results.port, 'CD')
- motor1 = ev3.motorC;
- motor2 = ev3.motorD;
- elseif strcmpi(p.Results.port, 'DC')
- motor1 = ev3.motorD;
- motor2 = ev3.motorC;
- end
-
- % Create SyncMotor-object with parameters of motor1 and given parameters
- if useMotorParams
- syncMotor = SyncMotor(motor1, motor2, p.Results.port, ...
- 'Power', motor1.power, ...
- 'SpeedRegulation', motor1.speedRegulation, ...
- 'BrakeMode', motor1.brakeMode, ...
- 'LimitMode', motor1.limitMode, ...
- 'LimitValue', motor1.limitValue, ...
- 'SmoothStart', motor1.smoothStart, ...
- 'SmoothStop', motor1.smoothStop, ...
- 'Debug', motor1.debug);
- else
- syncMotor = SyncMotor(motor1, motor2, p.Results.port, varargin{4:end});
+ stopAllMotors(['EV3::beep: Brick-Object not connected physical brick. ',...
+ 'You have to call ev3.connect(...) first!']);
end
- % Connect SyncMotor-object to brick handle.
- syncMotor.connect(ev3.brick);
+ ev3.commInterface.outputStopAll();
end
%% Sound functions
@@ -372,11 +290,11 @@ classdef EV3 < handle
%beep Plays a 'beep' tone on brick.
%
% Notes
- % * This equals playTone(10, 1000, 100). (Wraps the same opCode in comm-layer)
+ % * This equals playTone(10, 1000, 100) (Wraps the same opCode in comm-layer)
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.beep();
%
@@ -385,7 +303,7 @@ classdef EV3 < handle
'You have to call ev3.connect(...) first!']);
end
- ev3.brick.beep();
+ ev3.commInterface.beep();
if ev3.debug
fprintf('(DEBUG) EV3::beep: Called beep on brick\n');
@@ -398,11 +316,11 @@ classdef EV3 < handle
% Arguments
% * volume (0...100)
% * frequency (250...10000)
- % * duration (in milliseconds)
+ % * duration (>0, in milliseconds)
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.playTone(50, 5000, 1000); % Plays tone with 50% volume and 5000Hz for 1
% % second.
%
@@ -412,7 +330,7 @@ classdef EV3 < handle
'You have to call ev3.connect(...) first!']);
end
- ev3.brick.soundPlayTone(volume, frequency, duration);
+ ev3.commInterface.soundPlayTone(volume, frequency, duration);
if ev3.debug
fprintf('(DEBUG) EV3::beep: Called soundPlayTone on brick\n');
@@ -424,7 +342,7 @@ classdef EV3 < handle
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.playTone(10,100,100000000); % Accidentally given wrong tone duration.
% b.stopTone(); % Stops tone immediately.
%
@@ -434,7 +352,7 @@ classdef EV3 < handle
'You have to call ev3.connect(...) first!']);
end
- ev3.brick.soundStopTone();
+ ev3.commInterface.soundStopTone();
if ev3.debug
fprintf('(DEBUG) EV3::beep: Called soundStopTone on brick\n');
@@ -445,11 +363,11 @@ classdef EV3 < handle
%tonePlayed Tests if tone is currently played.
%
% Output
- % * status: Returns 0 if a tone is being played, 1 if not.
+ % * status: True for a tone being played
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.playTone(10, 100, 1000);
% pause(0.5);
% b.tonePlayed() -> Outputs 1 to console.
@@ -460,7 +378,7 @@ classdef EV3 < handle
'You have to call ev3.connect(...) first!']);
end
- status = ev3.brick.soundTest;
+ status = ev3.commInterface.soundTest;
if ev3.debug
fprintf('(DEBUG) EV3::beep: Called soundTest on brick\n');
@@ -468,25 +386,17 @@ classdef EV3 < handle
end
%% Setter
- function set.brick(ev3, brick)
- % Check if brick is valid and set ev3.brick if it is.
-
- if ~isBrickValid(brick)
- error('EV3::set.brick: Handle to Brick-object not valid.');
+ function set.commInterface(ev3, comm)
+ if ~isCommInterfaceValid(comm)
+ error('EV3::set.commInterface: Handle to Brick-object not valid.');
else
- ev3.brick = brick;
+ ev3.commInterface = comm;
end
end
function set.batteryMode(ev3, batteryMode)
- % Check if batteryMode is valid and set ev3.batteryMode if it is.
- %
- % Arguments
- % * batteryMode ('Voltage'/'Percentage'): Mode in which batteryValue will be read.
- %
-
validModes = {'Voltage', 'Percentage'};
- if ~ischar(batteryMode) || ~any(validatestring(batteryMode, validModes))
+ if ~ischar(batteryMode) || ~ismember(batteryMode, validModes)
error('EV3::set.batteryMode: Given parameter is not a valid battery mode.');
else
ev3.batteryMode = batteryMode;
@@ -494,24 +404,14 @@ classdef EV3 < handle
end
function set.debug(ev3, debug)
- % Check if debug is valid and set ev3.debug if it is.
- %
- % Arguments
- % * debug (0/1/'on'/'off'/'true'/'false'/2)
- %
-
if ~isBool(debug) && debug ~= 2
error('EV3::set.debug: Given parameter is not a bool.');
end
- if ischar(debug)
- ev3.debug = str2bool(debug);
- else
- ev3.debug = debug;
- end
+ ev3.debug = str2bool(debug);
- if ev3.isConnected()
- ev3.brick.debug = (ev3.debug >= 2);
+ if ev3.isConnected
+ ev3.commInterface.debug = (ev3.debug >= 2);
end
end
@@ -524,16 +424,18 @@ classdef EV3 < handle
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.setProperties('debug', 'on', 'batteryMode', 'Voltage');
% % Instead of: b.debug = 'on'; b.batteryMode = 'Voltage';
%
+ % See also EV3.DEBUG, EV3.BATTERYMODE
+ %
p = inputParser();
% Set default values
if ev3.init
- defaultDebug = 0;
+ defaultDebug = false;
defaultBatteryMode = 'Percentage';
else
defaultDebug = ev3.debug;
@@ -576,25 +478,22 @@ classdef EV3 < handle
methods (Access = 'private') % Private brick functions that are wrapped by dependent params
function bat = getBattery(ev3)
if ~ev3.isConnected
- error(['EV3::getBattery: EV3-Object not connected to physical EV3. You have ',...
- 'to call ev3.connect(properties) first!']);
+ error(['EV3::getBattery: EV3-Object not connected to physical EV3. You have ',...
+ 'to call ev3.connect(properties) first!']);
end
if strcmpi(ev3.batteryMode, 'Percentage')
- bat = ev3.brick.uiReadLbatt();
+ bat = ev3.commInterface.uiReadLbatt();
if ev3.debug
fprintf('(DEBUG) EV3::getBattery: Called uiReadLBatt.\n');
end
elseif strcmpi(ev3.batteryMode, 'Voltage')
- bat = ev3.brick.uiReadVbatt();
+ bat = ev3.commInterface.uiReadVbatt();
if ev3.debug
fprintf('(DEBUG) EV3::getBattery: Called uiReadVBatt.\n');
end
- else
- warning('EV3:getBattery: Mode has to be Percentage or Voltage!');
- error('EV3::getBattery: Mode not valid.');
end
end
end
diff --git a/source/Motor.m b/source/Motor.m
index 86257623e871f8fc8b14ead2371e50c78002c391..e4d195262433d897297e3448fd09f9333c2aa1d8 100644
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -1,10 +1,9 @@
-classdef Motor < handle
+classdef Motor < handle & dynamicprops
% Motor High-level class to work with motors.
%
% This class is supposed to ease the use of the brick's motors. It is possible to set all
- % kinds of parameters (even without connecting to the brick), request the current status of
- % the motor port and of course send commands to the brick to execute on the respective
- % port.
+ % kinds of parameters, request the current status of the motor ports and of course send
+ % commands to the brick to be executed on the respective port.
%
% Properties:
% Standard
@@ -13,175 +12,131 @@ classdef Motor < handle
% smoothStart - Degrees/Time for how far/long the motor should smoothly start (depends on limitMode)
% smoothStop - Degrees/Time for how far/long the motor should smoothly stop (depends on limitMode)
% limitValue - Degrees/Time for how far/long the motor should run (depends on limitMode)
- % brakeMode - Mode for braking
% limitMode - Mode for motor limit
- % mode - Device mode at port, used as tacho mode (format in which tachoCount should be returned)
+ % brakeMode - Mode for braking
% debug - Debug mode turned on or off
% Dependent
- % tachoCount - Current tacho count (either in degrees or rotations)
- % speed - Current speed of motor (only valid with speedRegulation turned on)
- % Get-only
+ % isRunning - True if motor is running (currentSpeed > 0)
+ % tachoCount - Current tacho count
+ % currentSpeed - Current speed of motor (should equal power if speedRegulation = 1)
+ % type - Current motor type (large or medium motor)
+ % Other
% port - Motor port
- % motorAtPort - Is physical motor actually connected to port?
- % brick - Brick object from sublayer class Brick -> used as interface to the physical brick.
- % status - Connection status at port
- % type - Device type at port
%
% Methods:
% Standard
- % Motor -
- % connect - Connects Motor-object to physical brick.
- % disconnect - Disconnects Motor-object from physical brick.
- % update - Updates Motor-object to current status at its port.
- % start - Starts the motor taking all parameters set by user into account.
- % stop - Stops the motor. :)
- % waitFor - Stops execution of program as long as motor is running with tacholimit.
- % isRunning - Returns whether motor is running (WITH TACHOLIMIT) or not.
+ % Motor
+ % connect - Connects Motor-object to physical brick
+ % disconnect - Disconnects Motor-object from physical brick
+ % setProperties - Sets multiple Motor properties at once using MATLAB's inputParser
+ % Brick functions
+ % start - Starts the motor taking all parameters set by user into account
+ % stop - Stops the motor :)
+ % syncedStart - Starts the motor synchronized with another
+ % syncedStop - Stops the motors previously started together with syncedStart
+ % waitFor - Stops execution of program as long as motor is running with tacholimit
% reset - Resets internal tacho count
- % resetTachoCount - Resets tacho count to 0 (if running without tacholimit).
- % togglePolarity - Switches the direction in which the motor turns.
- % setProperties - Sets multiple Motor properties at once using MATLAB's inputParser.
+ % resetTachoCount - Resets tacho count to 0 (if running without tacholimit)
%
%
- %
% Notes:
% * You don't need to create instances of this class. The EV3-class automatically creates
% instances for each motor port, and you can work with them via the EV3-object.
- % In fact, the connect/disconnect-methods of Motor are even written to be used via
- % EV3-class mainly, so you should only work without the EV3-class if you know what you
- % are doing!
- %
- % Example
- % % This small example should only roughly demonstrate how to work with motors.
- % % Establish connection, set properties on motorA and wait until it's connected. After
- % % starting, output current speed every 100ms until motor is turned off. Then output
- % % current tachoCount and disconnect.
- %
- % b = EV3();
- % b = EV3('debug', 'on', 'batteryMode', 'Voltage');
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
- % b.motorA.setProperties('Power', 50, 'speedRegulation', 'on', 'limitMode', 'Time');
- % b.motorA.limitValue = 1000;
- % b.motorA.brakeMode = 'Coast';
- % b.motorA.mode = DeviceMode.Motor.Rotations;
- % while ~b.motorA.motorAtPort % Wait until physical motor connected to A
- % b.motorA.update();
- % pause(0.5);
- % end
- % b.motorA.start(); % Motor on portA runs with power 50 for 1000ms and then coasts to a
- % % stop
- % while ~b.motorA.isRunning()
- % b.motorA.speed
- % pause(0.1);
- % end
- % b.motorA.tachoCount
- % b.disconnect();
- % b.delete()
%
%
% Signature
% Author: Tim Stadtmann
% Date: 2016/05/19
+ % Updated: 2016/08/15
properties % Standard properties to be set by user
%power - Power level of motor in percent
- % -> Any integer or double in [-100, 100]
+ % -> Any numeric in [-100, 100]
power;
%speedRegulation - Speed regulation turned on or off
- % Turning speed regulation on enables Motor.isRunning(), Motor.waitFor() and correctly
- % reading current speed with Motor.speed.
- % -> Any valid boolean (0/1/'on'/'off'/'true'/'false')
+ % -> Any valid boolean (0/1/'on'/'off'/true/false)
speedRegulation;
%smoothStart - Degrees/Time for how far/long the motor should smoothly start (depends on limitMode)
- % -> Any integer or double in [0, tachoLimit/2]
+ % -> Any numeric in [0, limitValue]
smoothStart;
%smoothStop - Degrees/Time for how far/long the motor should smoothly stop (depends on limitMode)
- % -> Any integer or double in [0, tachoLimit/2]
+ % -> Any numeric in [0, limitValue]
smoothStop;
- %limitValue - Degrees/Time for how far/long the motor should run (depends on limitMode)
- % -> Any integer or double >= 0 (in ms, if limitMode = 'Time')
+ %limitValue- Degrees/Time for how far/long the motor should run (depends on limitMode)
+ % -> Any numeric >= 0 (in ms, if limitMode = 'Time')
limitValue;
- %brakeMode - Mode for braking
- % -> 'Brake' / 'Coast'
- brakeMode; % Mode for braking: 'Brake' or 'Coast'
-
%limitMode - Mode for motor limit
% -> 'Tacho' / 'Time'
limitMode;
- %mode - Device mode at port, used as tacho mode (i.e. what tachoCount should return)
- % -> DeviceMode.Motor.Degrees / DeviceMode.Motor.Rotations
- % (DeviceMode.Motor.Speed is also defined, but this is only used internally.)
- mode;
+ %brakeMode - Mode for braking
+ % -> 'Brake' / 'Coast'
+ brakeMode;
%debug - Debug turned on or off
% In debug mode, everytime a command is passed to the sublayer ('communication layer'),
% there is feedback in the console about what command has been called, etc.
- % -> Any valid boolean (0/1/'on'/'off'/'true'/'false')
+ % -> Any valid boolean (0/1/'on'/'off'/true/false)
debug;
end
- properties (Dependent) % Parameters to be read directly from physical brick
- tachoCount; % Current tacho count (either in Degrees or Rotations)
- speed; % Current speed of motor (only valid with speedRegulation turned on)
- end
-
- properties (SetAccess = 'protected') % Read-only properties that are set internally or in init-phase
- %motorAtPort - Is physical motor actually connected to port?
- % This property will be changed by Motor.update() if changes have happened on the
- % physical brick, depending on status, type and mode values.
- % See also STATUS, TYPE, MODE, UPDATE
- motorAtPort = 0;
-
- %brick - Brick object from sublayer class Brick -> used as interface to the physical brick.
- % See also BRICK
- brick = 0;
-
+ properties (SetAccess = 'private')
%port - Motor port
% This is only the string representation of the motor port to work with.
% Internally, either MotorPort-, MotorBitfield- or MotorInput-member will be used.
% -> 'A' / 'B' / 'C' / 'D'
- port;
-
- %status - Connection status at port
- % This property will be changed by Motor.update() if changes have happened on the
- % physical brick.
- % See also CONNECTIONTYPE, UPDATE
- status = DeviceMode.Error.Undefined;
-
- %type - Device type at port
- % This property will be changed by Motor.update() if changes have happened on the
- % physical brick.
- % See also DEVICEMODE.ERROR, UPDATE
- type = DeviceMode.Error.Undefined;
+ port;
end
- properties (Hidden, Access = 'protected') % Hidden properties for internal use only
- init = 1; % Indicates 'init-phase' (Set to 1 as long as constructor is running)
- isConnected = 0; % Does virtual motor-object have a valid brick-handle?
+ properties (Dependent) % Read-only parameters to be read directly from physical brick
+ %isRunning - True if motor is running (speed > 0)
+ isRunning;
- %% Equivalents for Motor.port and Motor.brakeMode in enumerations
- % Port (obviously) & brakeMode are actual parameters on the brick. To avoid using string
- % comparisons each time they are used, the corresponding values to the given strings
- % are saved (hidden from the user).
- port_;
- brakeMode_;
+ %tachoCount - Current tacho count
+ tachoCount;
- %% Indicator for changes which will be needed later on
- changed = 0; % Saves whether power and/or speed reg have been changed virtually without
- % updating the physical brick.
- limitSetToZero = 0; % See motor.start (2nd note) for more info.
+ %currentSpeed - Current speed of motor (equals power if speedRegulation = true)
+ currentSpeed;
+ %type - Type of connected device if any
+ % See also DEVICETYPE
+ type;
end
- properties (Hidden, Dependent, Access = 'protected') % Hidden, dependent properties for internal use only
+ properties (Hidden, Access = 'private') % Hidden properties for internal use only
+ commInterface; % Communication interface
+
+ %% Hidden brick parameters
+
+ % brakeMode is an actual parameter on the brick. To avoid inconsistencies with other
+ % modi and to prettify the output, a string representing it is saved. In order to avoid
+ % using string comparisons each time it is used, the corresponding value, that is going
+ % to be sent, is saved (hidden from the user).
+ brakeMode_;
+
+ %% Miscallenous flags
+
+ connectedToBrick = false; % Connection to physical Brick?
+ sendPowerOnNextStart = false; % Indicates whether current power parameter should be sent
+ % 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 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
+
+ properties (Hidden, Dependent, Access = 'private') % Hidden, dependent properties for internal use only
portNo; % Port number
portInput; % Port number for input functions
+
+ isSynced; % Is motor running in synced mode?
+ physicalMotorConnected; % Physical motor connected to this port?
end
methods % Standard methods
@@ -194,133 +149,7 @@ classdef Motor < handle
%
motor.setProperties(varargin{:});
- motor.init = 0;
- end
-
- %% Connection
- function connect(motor,brick)
- %connect Connects Motor-object to physical brick.
- %
- % Notes:
- % * This method actually only saves a handle to a Brick-object which has been
- % created beforehand (probably by an EV3-object).
- %
- % Arguments
- % * brick: instance of Brick-class
- %
- % Examples (for use without EV3-class)
- % m = Motor();
- % brickInterface = Brick('ioType', 'usb');
- % m.connect(brickInterface);
- % % do stuff
- %
-
- if motor.isConnected
- if isBrickValid(motor.brick)
- error('Motor::connect: Motor-Object already has a brick handle.');
- else
- warning(['Motor::connect: Motor.isConnected is set to ''True'', but ',...
- 'brick handle is invalid. Deleting invalid handle and ' ,...
- 'resetting Motor.isConnected now...']);
-
- motor.brick = 0;
- motor.isConnected = 0;
-
- error('Motor::connect: Disconnected due to internal error.');
- end
- end
-
- motor.brick = brick;
- motor.isConnected = 1;
-
- if motor.debug
- fprintf('(DEBUG) Motor-Object connected to brick handle.\n');
- end
-
- motor.update();
- end
-
- function disconnect(motor)
- %disconnect Disconnects Motor-object from physical brick.
- %
- % Notes:
- % * As with Motor::connect, this method actually only sets the property, in which
- % the handle to the Brick-class was stored, to 0.
- %
- % Examples (for use without EV3-class)
- % m = Motor();
- % brickInterface = Brick('ioType', 'usb');
- % m.connect(brickInterface);
- % % do stuff
- % m.disconnect();
- % brickInterface.delete(); % Actual disconnecting!!!
- %
-
-% if ~motor.isConnected
-% error('Motor::disconnect: No brick connected.');
-% end
-
- motor.brick = 0; % Note: actual deleting is done in EV3::disconnect.
- motor.isConnected = 0;
- motor.motorAtPort = 0;
-
- motor.status = DeviceMode.Error.Undefined;
- motor.type = DeviceMode.Error.Undefined;
- end
-
- function update(motor)
- %update Updates motor-object to current status at its port.
- % The parameters type, status and mode, which fully represent any device that can
- % be connected to the brick, will be updated by this method. Furthermore, update()
- % concludes from these parameters if there is a physical motor currently connected
- % to the port (Motor.motorAtPort).
- %
- % Examples
- % b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
- % % Connect motor to port A (in 'real life')
- % b.motorA.power = 50;
- % b.motorA.start(); -> error, because virtual brick does not know about new motor
- % b.motorA.type -> outputs DeviceType.Error
- % b.motorA.update();
- % b.motorA.start(); -> no error
- % b.motorA.type -> output DeviceType.LargeMotor/DeviceType.MediumMotor
- %
- if ~motor.isConnected
- error(['Motor::update: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
- end
-
- % Get current status at both ports
- status = motor.getStatus();
- [type, mode] = motor.getTypeMode();
-
- % Conclude if both physical motors are connected
- motor.motorAtPort = 0;
- if uint8(status) >= uint8(ConnectionType.OutputDumb) && ...
- uint8(status) <= uint8(ConnectionType.OutputTacho) % Is status of motor valid?
- if (type == DeviceType.MediumMotor || type == DeviceType.LargeMotor) % Is type of motor valid?
- if strcmp(class(mode), 'DeviceMode.Motor') % Is mode of motor valid?
- motor.motorAtPort = 1;
- end
- end
- end
-
- % Set parameter
- motor.status = status;
- motor.type = type;
-
- if motor.mode ~= mode && strcmp(class(mode), 'DeviceMode.Motor')
- if mode == DeviceMode.Motor.Speed
- mode = motor.mode; % This trick prevents set.mode from throwing an error if
- % the physical motor's mode has internally been set to
- % DeviceMode.Motor.Speed
- else
- warning(['Motor::update: Physical motor''s mode was not ',...
- 'the specified one. Changing...']);
- end
- end
- motor.mode = mode;
+ motor.init = false;
end
%% Brick functions
@@ -344,100 +173,267 @@ classdef Motor < handle
% start, call stop() and setPower() manually. :/
%
- if ~motor.isConnected
- error(['Motor::start: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
- elseif ~motor.motorAtPort
+ % 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!']);
+ elseif ~motor.physicalMotorConnected
error('Motor::start: No physical motor connected to Port %s',...
- motor.port);
+ port2str('Motor', motor.port));
+ elseif motor.isRunning
+ 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
+ % Call right function in commInterface depending on limitValue and limitMode
if motor.limitValue==0
- if motor.changed || motor.limitSetToZero
- % See 2nd note
- motor.stop();
+ if motor.sendPowerOnNextStart
+ if motor.limitSetToZero
+ motor.stop();
+ motor.limitSetToZero = false;
+ end
motor.setPower(motor.power);
- motor.limitSetToZero = 0;
end
- motor.brick.outputStart(0, motor.port_);
+ motor.commInterface.outputStart(0, motor.port);
if motor.debug
- fprintf('(DEBUG) Motor::start: Called outputStart on Port %s\n', motor.port);
+ fprintf('(DEBUG) Motor::start: Called outputStart on Port %s\n', port2str('Motor', motor.port));
end
else
- if motor.isRunning()
- error('Motor::start: Motor is already running.');
- end
-
if strcmpi(motor.limitMode, 'Tacho')
if motor.speedRegulation
- motor.brick.outputStepSpeed(0, motor.port_, motor.power,...
+ motor.commInterface.outputStepSpeed(0, motor.port, motor.power,...
motor.smoothStart, motor.limitValue, motor.smoothStop,...
motor.brakeMode_);
if motor.debug
fprintf('(DEBUG) Motor::start: Called outputStepSpeed on Port %s\n',...
- motor.port);
+ port2str('Motor', motor.port));
end
else
- motor.brick.outputStepPower(0, motor.port_, motor.power,...
+ motor.commInterface.outputStepPower(0, motor.port, motor.power,...
motor.smoothStart, motor.limitValue, motor.smoothStop,...
motor.brakeMode_);
if motor.debug
fprintf('(DEBUG) Motor::start: Called outputStepPower on Port %s\n',...
- motor.port);
+ port2str('Motor', motor.port));
end
end
elseif strcmpi(motor.limitMode, 'Time')
if motor.speedRegulation
- motor.brick.outputTimeSpeed(0, motor.port_, motor.power,...
+ motor.commInterface.outputTimeSpeed(0, motor.port, motor.power,...
motor.smoothStart, motor.limitValue, motor.smoothStop,...
motor.brakeMode_);
if motor.debug
fprintf('(DEBUG) Motor::start: Called outputTimeSpeed on Port %s\n',...
- motor.port);
+ port2str('Motor', motor.port));
end
else
- motor.brick.outputTimePower(0, motor.port_, motor.power,...
+ motor.commInterface.outputTimePower(0, motor.port, motor.power,...
motor.smoothStart, motor.limitValue, motor.smoothStop,...
motor.brakeMode_);
if motor.debug
fprintf('(DEBUG) Motor::start: Called outputTimePower on Port %s\n',...
- motor.port);
+ port2str('Motor', motor.port));
end
end
- else
- % Note: After all the input parsing done in setProperties and set.limitMode
- % this REALLY should not happen..
- error('Motor::start: Limit Mode not valid.');
end
-
end
end
function stop(motor)
%stop Stops the motor. :)
- if ~motor.isConnected
- error(['Motor::stop: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
- elseif ~motor.motorAtPort
+ if ~motor.connectedToBrick
+ error(['Motor::stop: Motor-Object not connected to comm handle.',...
+ 'You have to call motor.connect(commInterface) first!']);
+ elseif ~motor.physicalMotorConnected
error('Motor::stop: No physical motor connected to Port %s',...
- motor.port);
+ port2str('Motor', motor.port));
+ elseif motor.isSynced && motor.isRunning
+ error(['Motor::stop: Motor is running synchronized with another motor. ' ,...
+ 'Use ''syncedStop'' on the ''master''-motor.']);
+ end
+
+ motor.commInterface.outputStop(0, motor.port, motor.brakeMode_);
+
+ if motor.debug
+ fprintf('(DEBUG) Motor::stop: Called outputStop on Port %s\n', port2str('Motor', motor.port));
+ end
+ end
+
+ function syncedStart(motor, syncMotor, varargin)
+ %syncedStart Starts this motor synchronized with another
+ % This motor acts as a 'master', meaning that the synchronized control is done via
+ % it. When syncedStart is called, the master sets the slave's (syncMotor)
+ % properties to keep it consistent with the last parameters sent to the physical
+ % 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,
+ % limitValue, speedRegulation
+ %
+ % Arguments
+ % * syncMotor (the other motor object to sync with)
+ % * 'turnRatio', numeric in [-200,200]
+ %
+ % Notes
+ % * Description of turn_ratio (Excerpt of Firmware-comments, in c_output.c):
+ % "Turn ratio is how tight you turn and to what direction you turn.
+ % -> 0 value is moving straight forward
+ % -> Negative values turn to the left
+ % -> Positive values turn to the right
+ % -> Value -100 stops the left motor
+ % -> Value +100 stops the right motor
+ % -> Values less than -100 makes the left motor run the opposite
+ % direction of the right motor (Spin)
+ % -> Values greater than +100 makes the right motor run the opposite
+ % direction of the left motor (Spin)"
+ % * This is right now a pretty 'heavy' function, as it tests if both motors are
+ % connected AND aren't running, wasting four commands, so keep that in mind
+ %
+ % Example
+ % b = EV3(); b.connect('usb');
+ % m = b.motorA;
+ % m.power = 50;
+ % m.syncedStart(b.motorB);
+ % % Do stuff
+ % m.syncedStop();
+ %
+
+ turnRatio = 0;
+
+ % Check parameters
+ if ~isDeviceValid('Motor', syncMotor)
+ error('Motor::syncedStart: Given motor to sync with is not a valid motor object.');
+ elseif ~isempty(varargin)
+ if length(varargin)~=2
+ error(['Motor::syncedStart: Wrong number of input arguments. ' ,...
+ 'Possible input: ''turnRatio'', value (with value in [-200,200])']);
+ end
+ parameter = varargin{1};
+ turnRatio = varargin{2};
+ if ~strcmpi(parameter, 'turnRatio') || ~isnumeric(turnRatio) || ...
+ turnRatio<-200 || turnRatio > 200
+ error(['Motor::syncedStart: Wrong format of input arguments. Possible ',...
+ 'input: ''turnRatio'', value (with value in [-200,200])']);
+ end
end
- motor.brick.outputStop(0, motor.port_, motor.brakeMode_);
+ % Check connection and motor parameter
+ if ~motor.connectedToBrick || ~syncMotor.connectedToBrick
+ error(['Motor::syncedStart: Motor-Object not connected to comm handle.',...
+ 'You have to call motor.connect(commInterface) first!']);
+ elseif ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
+ error('Motor::syncedStart: No physical motor connected to Port %s or %s.',...
+ port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
+ elseif motor.speedRegulation
+ error(['Motor::syncedStart: Cannot run motors synchronized if ',...
+ 'speedRegulation is turned on.']);
+ elseif motor.isRunning || syncMotor.isRunning
+ error('Motor::syncedStart: One of the motors is already running!');
+ end
+
+ if motor.power == 0
+ warning('Motor::syncedStart: Synchronized motors starting with power=0.');
+ end
+
+ % Cache old values to make it possible to reset them on stopSynced
+ % Note: the existence of 'syncCache' is also used to determine whether motor is
+ % running synchronized or not, see get.isSynced()
+ if motor.isSynced
+ meta = motor.findprop('syncCache');
+ else
+ meta = motor.addprop('syncCache');
+ meta.Hidden = true;
+ meta.Access = 'private';
+ end
+
+ motor.syncCache.master_oldSendPowerOnSet = motor.sendPowerOnSet;
+ motor.syncCache.slave_oldSendPowerOnSet = syncMotor.sendPowerOnSet;
+ motor.syncCache.slave = syncMotor;
+
+ % Disable immediate sending of new power values
+ motor.sendPowerOnSet = false;
+ syncMotor.sendPowerOnSet = false;
+
+ % Keep 'slave'-motor synchronized
+ syncMotor.speedRegulation = false;
+ syncMotor.limitValue= motor.limitValue;
+ syncMotor.brakeMode = motor.brakeMode;
+ syncMotor.power = motor.power;
+
+ if strcmpi(motor.limitMode, 'Tacho')
+ motor.commInterface.outputStepSync(0, motor.port+syncMotor.port, ...
+ motor.power, turnRatio, ...
+ 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.limitMode, 'Time')
+ motor.commInterface.outputTimeSync(0, motor.port+syncMotor.port, ...
+ motor.power, turnRatio, ...
+ 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));
+ end
+ end
+ end
+
+ function syncedStop(motor)
+ %syncedStop Stops both motors previously started with syncedStart
+ % Obviously, if motors have not been started synchronized, this throws an error.
+ %
+ % See also MOTOR.SYNCEDSTART
+ %
+
+ if ~motor.isSynced
+ error('Motor::syncedStop: Motor has not been started synchronized with another.');
+ end
+
+ % Retrieve synced motor from cache
+ syncMotor = motor.syncCache.slave;
+
+ if ~motor.connectedToBrick || ~syncMotor.connectedToBrick
+ error(['Motor::syncedStop: Motor-Object not connected to comm handle.',...
+ 'You have to call motor.connect(commInterface) first!']);
+ elseif ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
+ error('Motor::syncedStop: No physical motor connected to either Port %s or %s.',...
+ port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
+ end
+
+ % Retrieve other values from cache and delete it
+ motor.sendPowerOnSet = motor.syncCache.master_oldSendPowerOnSet;
+ syncMotor.sendPowerOnSet = motor.syncCache.slave_oldSendPowerOnSet;
+ delete(motor.findprop('syncCache'));
+
+ % Synced stopping
+ motor.commInterface.outputStop(0, motor.port+syncMotor.port, motor.brakeMode_);
+
+ % On next start, both motors have to send power-opcode again
+ motor.sendPowerOnNextStart = true;
+ syncMotor.sendPowerOnNextStart = true;
if motor.debug
- fprintf('(DEBUG) Motor::stop: Called outputStop on Port %s\n', motor.port);
+ fprintf('(DEBUG) Motor::stop: Called outputStop on Ports %s and %s\n.', ...
+ port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
end
end
@@ -455,69 +451,49 @@ classdef Motor < handle
% 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.isConnected
- error(['Motor::waitFor: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
- elseif ~motor.motorAtPort
- error('Motor::waitFor: No physical motor connected to Port %s',...
- motor.port);
- elseif ~motor.limitValue
- error(['Motor::waitFor: Motor has no tacho limit. ' ,...
- 'Can''t reliably determine whether it is running or not.']);
- end
-
- tic;
- while 1
- try
- warning('off','all');
-
- motor.brick.outputReady(0, motor.port_);
- t = toc;
-
- if t < 1
- while motor.isRunning() % If outputReady correctly returned in less
- % than a second, isRunning should instantly send 0.
- end
- end
-
- warning('on','all');
- break;
- catch % TO DO: Catch only timeout exception, otherwise death and destruction possible (aka infinite loop)
- continue;
- end
- end
-
- if motor.debug
- fprintf('(DEBUG) Motor::waitFor: Called outputReady on Port %s\n', motor.port);
- end
- end
-
- function running = isRunning(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.isConnected
- error(['Motor::isRunning: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
- elseif ~motor.motorAtPort
- error('Motor::isRunning: No physical motor connected to Port %s',...
- motor.port);
- elseif ~motor.limitValue
- warning(['Motor::isRunning: Motor has no tacho limit. ' ,...
- 'Can''t reliably determine whether it is running or not.']);
+ if ~motor.connectedToBrick
+ error(['Motor::waitFor: Motor-Object not connected to comm handle.',...
+ 'You have to call motor.connect(commInterface) first!']);
end
- running = motor.brick.outputTest(0, motor.port_);
-
- if motor.debug
- fprintf('(DEBUG) Motor::isRunning: Called outputReady on Port %s\n', motor.port);
+ pause(0.1);
+ while motor.isRunning
+ pause(0.03);
end
+% elseif ~motor.limitValue
+% error(['Motor::waitFor: Motor has no tacho limit. ' ,...
+% 'Can''t reliably determine whether it is running or not.']);
+% end
+%
+% tic;
+% while 1
+% try
+% warning('off','all');
+%
+% motor.commInterface.outputReady(0, motor.port);
+% t = toc;
+%
+% if t < 1
+% while motor.isRunning() % If outputReady correctly returned in less
+% % than a second, isRunning should instantly send 0.
+% end
+% end
+%
+% warning('on','all');
+% break;
+% catch % TO DO: Catch only timeout exception, otherwise death and destruction possible (aka infinite loop)
+% continue;
+% end
+% end
+%
+% if motor.debug
+% fprintf('(DEBUG) Motor::waitFor: Called outputReady on Port %s\n', motor.port);
+% end
end
function reset(motor)
@@ -526,102 +502,67 @@ classdef Motor < handle
% 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.isConnected
+ if ~motor.connectedToBrick
error(['Motor::reset: Motor-Object not connected to brick handle.',...
'You have to call motor.connect(brick) first!']);
- elseif ~motor.motorAtPort
+ elseif ~motor.physicalMotorConnected
error('Motor::reset: No physical motor connected to Port %s',...
- motor.port);
+ port2str('Motor', motor.port));
end
- motor.brick.outputReset(0, motor.port_);
+ motor.commInterface.outputReset(0, motor.port);
if motor.debug
fprintf('(DEBUG) Motor::reset: Called outputReset on Port %s\n',...
- motor.port);
+ port2str('Motor', motor.port));
end
end
- function togglePolarity(motor)
- %togglePolarity Switches the direction in which the motor turns.
- if ~motor.isConnected
- error(['Motor::togglePolarity: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
- elseif ~motor.motorAtPort
- error('Motor::togglePolarity: No physical motor connected to Port %s',...
- motor.port);
+ function resetTachoCount(motor)
+ %resetTachoCount Resets tacho count to 0 if running without tacholimit
+ % 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.',...
+ 'You have to call motor.connect(commInterface) first!']);
+ elseif ~motor.physicalMotorConnected
+ error('Motor::resetTachoCount: No physical motor connected to Port %s',...
+ port2str('Motor', motor.port));
end
- motor.brick.outputPolarity(0, motor.port_, 0);
+ motor.commInterface.outputClrCount(0, motor.port);
+
if motor.debug
- fprintf('(DEBUG) Motor::togglePolarity: Called outputPolarity on Port %s\n', motor.port);
+ fprintf('(DEBUG) Motor::resetTachoCount: Called outputClrCount on Port %s\n',...
+ port2str('Motor', motor.port));
end
end
%% Setter
- function set.port(motor, port)
- if ~isPortValid(class(motor),port)
- error('Motor::set.port: Given port is not a valid port.');
- end
-
- if ischar(port)
- motor.port = port;
- [motor.port_, ~, ~] = str2PortParam(class(motor), port);
- else
- error('Motor::set.port: Port has to be a string.');
- end
- end
-
function set.power(motor, power)
if ~isnumeric(power)
error('Motor::set.power: Given parameter is not a numeric.');
elseif power<-100 || power>100
warning('Motor::set.power: Motor power has to be an element of [-100,100]!');
error('Motor::set.power: Given motor power is out of bounds.');
- elseif power == 0
- if ~motor.init
- warning('Motor::set.power: Setting power to zero...');
- end
- elseif power == motor.power
- warning('Motor::set.power: Motor power already is %d',power);
end
motor.power = power; % Set power parameter.
- motor.changed = 1; % Indicate that virtual and physical brick have different power
+ motor.sendPowerOnNextStart = true; % Indicate that virtual and physical brick have different power
% parameters right now. See 'setPower' for more info.
- motor.setPower(power); % Update physical brick's power parameter.
- end
-
- function set.mode(motor, mode)
- % Convert given mode to DeviceMode if necessary
- if strcmp(class(mode), 'uint8') || strcmp(class(mode), 'double')
- mode = DeviceMode(motor.type, uint8(mode));
- end
- if isModeValid(DeviceType.LargeMotor, mode)
- if mode == DeviceMode.Motor.Speed
- error(['Motor::update: Physical motor''s mode has to be either ' ,...
- 'DeviceMode.Motor.Degrees or DeviceMode.Motor.Rotations. ' ,...
- '(DeviceMode.Motor.Speed is for internal use only.']);
- end
-
- % At this point, mode is a valid DeviceMode for Motor-objects.
-
- % If motor is currently not connected, allow changes
- if strcmp(class(mode),'DeviceMode.Error') && ~motor.motorAtPort
- motor.mode = mode;
- return;
- end
- motor.mode = mode;
-
- if motor.isConnected && motor.motorAtPort
- motor.setMode(mode);
- end
- else
- error(['Motor::update: Physical motor''s mode has to be either ' ,...
- 'DeviceMode.Motor.Degrees or DeviceMode.Motor.Rotations.']);
+ if motor.sendPowerOnSet && motor.connectedToBrick && ...
+ motor.physicalMotorConnected
+ motor.setPower(power); % Update physical brick's power parameter.
end
end
@@ -630,12 +571,8 @@ classdef Motor < handle
error('Motor::set.speedRegulation: Given parameter is not a bool.');
end
- if ischar(speedRegulation)
- motor.speedRegulation = str2bool(speedRegulation);
- else
- motor.speedRegulation = speedRegulation;
- end
- motor.changed = 1;
+ motor.speedRegulation = str2bool(speedRegulation);
+ motor.sendPowerOnNextStart = true;
end
function set.smoothStart(motor, steps)
@@ -644,13 +581,11 @@ classdef Motor < handle
elseif steps<0
warning('Motor::set.smoothStart: Smooth start steps have to be positive.');
error('Motor::set.smoothStart: Smooth start steps are out of bounds.');
- elseif isempty(motor.limitValue)
- warning(['Motor::set.smoothStart: Smooth start steps should be set after ',...
- 'setting motor.limitValue. Setting smooth start steps to zero...']);
- steps = 0;
- elseif steps>motor.limitValue
- error(['Motor::set.smoothStart: Smooth start steps are greater than ',...
- 'actual limitValue.']);
+ end
+
+ if ~isempty(motor.limitValue) && steps>motor.limitValue
+ warning(['Motor::set.smoothStart: Smooth start steps are greater than ',...
+ 'limitValue.']);
end
motor.smoothStart = steps;
@@ -662,33 +597,19 @@ classdef Motor < handle
elseif steps<0
warning('Motor::set.smoothStop: Smooth stop steps have to be positive.');
error('Motor::set.smoothStop: Smooth stop steps are out of bounds.');
- elseif isempty(motor.limitValue)
- warning(['Motor::set.smoothStop: Smooth stop steps should be set after ',...
- 'setting motor.limitValue. Setting smooth stop steps to zero...']);
- steps = 0;
- elseif steps>motor.limitValue
- error(['Motor::set.smoothStop: Smooth stop steps (%d) are greater than ',...
- 'actual limitValue (%d).'], steps, motor.limitValue);
end
- motor.smoothStop = steps;
- end
-
- function set.debug(motor, debug)
- if ~isBool(debug)
- error('Motor::set.debug: Given parameter is not a bool.');
+ if ~isempty(motor.limitValue) && steps>motor.limitValue
+ error(['Motor::set.smoothStop: Smooth stop steps are greater than ',...
+ 'limitValue.']);
end
- if ischar(debug)
- motor.debug = str2bool(debug);
- else
- motor.debug = debug;
- end
+ motor.smoothStop = steps;
end
function set.brakeMode(motor, brakeMode)
validModes = {'Coast', 'Brake'};
- if ~ischar(brakeMode) || ~any(validatestring(brakeMode, validModes))
+ if ~ischar(brakeMode) || ~ismember(brakeMode, validModes)
error('Motor::set.brakeMode: Given parameter is not a valid brake mode.');
else
motor.brakeMode = brakeMode;
@@ -698,7 +619,7 @@ classdef Motor < handle
function set.limitMode(motor, limitMode)
validModes = {'Time', 'Tacho'};
- if ~ischar(limitMode) || ~any(validatestring(limitMode, validModes))
+ if ~ischar(limitMode) || ~ismember(limitMode, validModes)
error('Motor::set.limitMode: Given parameter is not a valid limit mode.');
else
motor.limitMode = limitMode;
@@ -712,111 +633,101 @@ classdef Motor < handle
warning('Motor::set.limitValue: limitValue has to be positive!');
error('Motor::set.limitValue: Given limitValue is out of bounds.');
elseif any(motor.limitValue)
- if motor.limitValue~=0 && limitValue==0
- motor.limitSetToZero = 1;
+ if limitValue==0 && motor.limitValue~=0
+ motor.sendPowerOnNextStart = true;
+ motor.limitSetToZero = true;
+ motor.sendPowerOnSet = true;
+ elseif limitValue~=0 && motor.limitValue==0
+ motor.sendPowerOnSet = false;
end
end
- motor.limitValue = limitValue;
+
+ motor.limitValue= limitValue;
end
- function set.brick(motor, brick)
- if ~isBrickValid(brick)
- error('Motor::set.brick: Handle to brick not valid.');
- else
- motor.brick = brick;
+ function set.port(motor, port)
+ try
+ motor.port = str2PortParam(class(motor), port);
+ catch ME
+ error('Motor::set.port: Given parameter is not valid port string.');
end
end
- function set.tachoCount(motor, tachoCount)
- if tachoCount~=0
- error('Motor::set.tachoCount: Cannot set the tachoCount to a value ~= 0.');
- end
-
- motor.resetTachoCount();
+ function set.commInterface(motor, comm)
+ if ~isCommInterfaceValid(comm)
+ error('Motor::set.commInterface: Handle to commInterface not valid.');
+ end
+
+ motor.commInterface = comm;
+ end
+
+ function set.debug(motor, debug)
+ if ~isBool(debug)
+ error('Motor::set.debug: Given parameter is not a bool.');
+ end
+
+ motor.debug = str2bool(debug);
end
function setProperties(motor, varargin)
%setProperties Sets multiple Motor properties at once using MATLAB's inputParser.
%
% Arguments
- % * 'debug', 0/1/'on'/'off'/'true'/'false'
- % * 'smoothStart', integer or double in [0, tachoLimit/2]
- % * 'smoothStop', integer or double in [0, tachoLimit/2]
- % * 'speedRegulation', 0/1/'on'/'off'/'true'/'false'
+ % * 'debug', bool
+ % * 'smoothStart', numeric in [0, limitValue]
+ % * 'smoothStop', numeric in [0, limitValue]
+ % * 'speedRegulation', bool
% * 'brakeMode', 'Coast'/'Brake'
% * 'limitMode', 'Time'/'Tacho'
- % * 'limit', integer or double > 0
- % * 'power', integer or double in [-100,100]
- % * 'mode', DeviceMode.Motor.Degrees/DeviceMode.Motor.Rotations
+ % * 'limitValue', numeric > 0
+ % * 'power', numeric in [-100,100]
% * 'batteryMode', 'Voltage'/'Percentage'
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
- % b.motorA.setProperties('debug', 'on', 'power', 50, 'limit', 720, 'speedRegulation', 'on');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
+ % 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();
- p.KeepUnmatched = 1; % For possible use in SyncMotor::setProperties
+ p.KeepUnmatched = 1;
% Set default values
if motor.init
- defaultSmoothStart = 0;
- defaultSmoothStop = 0;
defaultDebug = 0;
defaultSpeedReg = 0;
defaultBrakeMode = 'Coast';
defaultLimitMode = 'Tacho';
defaultLimit = 0;
defaultPower = 0;
- defaultMode = DeviceMode.Motor.Degrees;
+ defaultSmoothStart = 0;
+ defaultSmoothStop = 0;
else
- defaultSmoothStart = motor.smoothStart;
- defaultSmoothStop = motor.smoothStop;
defaultDebug = motor.debug;
defaultSpeedReg = motor.speedRegulation;
defaultBrakeMode = motor.brakeMode;
defaultLimitMode = motor.limitMode;
defaultLimit = motor.limitValue;
defaultPower = motor.power;
- defaultMode = motor.mode;
+ defaultSmoothStart = motor.smoothStart;
+ defaultSmoothStop = motor.smoothStop;
end
- % set valid values and save them in a cell array
-% validBools = {num2str(0), num2str(1), 'off', 'on'};
-% validBrakeModes = {num2str(BrakeMode.Coast), num2str(BrakeMode.Brake), 'Coast', 'Brake'};
-% validPorts = {num2str(MotorBitfield.MotorA), num2str(MotorBitfield.MotorB),...
-% num2str(MotorBitfield.MotorC), num2str(MotorBitfield.MotorD),...
-% num2str(Device.MotorSync),...
-% 'A', 'B', 'C', 'D'};
-% validLimitModes = {'Time', 'Tacho'};
-
- % define anonymous functions that will return whether given value in varargin is
- % valid
-% checkBools = @(x) any(validatestring(num2str(x),validBools));
-% checkBrakeMode = @(x) any(validatestring(num2str(x),validBrakeModes));
-% checkLimitMode = @(x) any(validatestring(x, validLimitModes));
-% checkPorts = @(x) any(validatestring(num2str(x),validPorts));
-% checkLimit = @(x) x>=0;
-% checkPower = @(x) isnumeric(x) && x>=-100 && x<=100;
-
% Add parameter
if motor.init
- p.addRequired('port');%, checkPorts);
+ p.addRequired('port');
end
- p.addOptional('smoothStart', defaultSmoothStart);%, checkBools);
- p.addOptional('smoothStop', defaultSmoothStop);%, checkBools);
- p.addOptional('debug', defaultDebug);%, checkBools);
- p.addOptional('speedRegulation', defaultSpeedReg);%, checkBools);
- p.addOptional('brakeMode', defaultBrakeMode);%, checkBrakeMode);
- p.addOptional('limitMode', defaultLimitMode);%, checkLimitMode);
- p.addOptional('limitValue', defaultLimit);%, checkLimit);
- p.addOptional('power', defaultPower);%, checkPower);
- p.addOptional('mode', defaultMode);
+ p.addOptional('debug', defaultDebug);
+ p.addOptional('speedRegulation', defaultSpeedReg);
+ p.addOptional('brakeMode', defaultBrakeMode)
+ p.addOptional('limitMode', defaultLimitMode);
+ p.addOptional('limitValue', defaultLimit);
+ p.addOptional('power', defaultPower);
+ p.addOptional('smoothStart', defaultSmoothStart);
+ p.addOptional('smoothStop', defaultSmoothStop);
% Parse...
p.parse(varargin{:});
@@ -825,51 +736,71 @@ classdef Motor < handle
if motor.init
motor.port = p.Results.port;
end
- motor.limitValue = p.Results.limitValue;
+ motor.limitValue= p.Results.limitValue;
motor.limitMode = p.Results.limitMode;
-% if ~motor.init && motor.power ~= p.Results.power % To avoid unnecessary communication with physical brick
-% motor.power = p.Results.power;
-% end
- motor.power = p.Results.power;
motor.brakeMode = p.Results.brakeMode;
- motor.smoothStart = p.Results.smoothStart;
- motor.smoothStop = p.Results.smoothStop;
motor.debug = p.Results.debug;
motor.speedRegulation = p.Results.speedRegulation;
- motor.mode = p.Results.mode;
+ motor.smoothStart = p.Results.smoothStart;
+ motor.smoothStop = p.Results.smoothStop;
+
+ motor.sendPowerOnSet = false;
+ motor.power = p.Results.power;
+ motor.sendPowerOnSet = true;
end
%% Getter
function portNo = get.portNo(motor)
- portNo = motor.getPortNo();
+ portNo = bitfield2port(motor.port);
end
function portInput = get.portInput(motor)
- portInput = motor.getPortInput();
+ portInput = bitfield2input(motor.port);
end
function cnt = get.tachoCount(motor)
- if ~motor.isConnected || ~motor.motorAtPort
- warning('Motor::get.tachoCount: Could not detect motor at port %s.', ...
- motor.port);
-
- cnt = 0;
- return;
+ cnt = 0;
+ if motor.connectedToBrick
+ cnt = motor.getTachoCount();
+ if isnan(cnt)
+ warning('Motor::get.tachoCount: Could not detect motor at port %s.', ...
+ port2str('Motor', motor.port));
+ cnt = 0;
+ end
end
-
- cnt = motor.getTachoCount();
end
- function speed = get.speed(motor)
- if ~motor.isConnected || ~motor.motorAtPort
- warning('Motor::get.tachoCount: Could not detect motor at port %s.', ...
- motor.port);
-
- speed = 0;
- return;
+ function speed = get.currentSpeed(motor)
+ speed = 0;
+ if motor.connectedToBrick
+ speed = motor.getSpeed();
+ if isnan(speed)
+ warning('Motor::get.currentSpeed: Could not detect motor at port %s.', ...
+ port2str('Motor', motor.port));
+ speed = 0;
+ end
end
-
- speed = motor.getSpeed();
+ end
+
+ function running = get.isRunning(motor)
+ running = motor.currentSpeed>0;
+ end
+
+ function synced = get.isSynced(motor)
+ synced = (length(findprop(motor, 'syncCache'))==1);
+ end
+
+ function motorType = get.type(motor)
+ if motor.connectedToBrick
+ [motorType, ~] = motor.getTypeMode();
+ else
+ motorType = DeviceType.Unknown;
+ end
+ end
+
+ function conn = get.physicalMotorConnected(motor)
+ currentType = motor.type;
+ conn = (currentType==DeviceType.MediumMotor || currentType==DeviceType.LargeMotor);
end
%% Display
@@ -880,9 +811,9 @@ classdef Motor < handle
end
end
- methods (Access = 'protected') % Private brick functions that are wrapped by dependent params
+ methods (Access = 'private') % Private brick functions that are wrapped by dependent params
function setPower(motor, power)
- %setPower Sets given power value on the physical brick.
+ %setPower Sets given power value on the physical Brick.
%
% Notes:
% * If motor is running with a limit, calling outputSpeed/outputPower, to
@@ -891,160 +822,189 @@ classdef Motor < handle
% with the new value instantly. However, this sometimes leads to unexpected behaviour.
% Therefore, if motor is running with a limit, setPower aborts with a warning.
%
-
- if ~motor.isConnected || ~motor.motorAtPort
- return;
+ 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
- if motor.limitValue~=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.brick.outputSpeed(0, motor.port_, power);
-
- if motor.debug
- fprintf('(DEBUG) Motor::setPower: Called outputSpeed on Port %s\n', motor.port);
- end
- else
- motor.brick.outputPower(0, motor.port_, power);
-
- if motor.debug
- fprintf('(DEBUG) Motor::setPower: Called outputPower on Port %s\n', 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.changed = 0;
+ motor.sendPowerOnNextStart = false;
end
- function setMode(motor, mode)
- if ~motor.isConnected || ~motor.motorAtPort
- return;
+ 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));
end
- motor.brick.inputReadSI(0, motor.portInput, mode); % Reading a value implicitly
- % sets the mode.
+ motor.commInterface.inputReadSI(0, motor.portInput, mode); % Reading a value implicitly
+ % sets the mode.
if motor.debug
- fprintf('(DEBUG) Motor::setMode: Called inputReadSI on input port %d\n',...
- uint8(motor.portInput));
+ fprintf('(DEBUG) Motor::setMode: Called inputReadSI on Port %s\n',...
+ port2str('Motor', motor.port));
end
end
- function resetTachoCount(motor)
- %resetTachoCount Resets tacho count to 0 if running without tacholimit
- % 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.isConnected || ~motor.motorAtPort
- return;
- end
-
- motor.brick.outputClrCount(0, motor.port_);
-
- if motor.debug
- fprintf('(DEBUG) Motor::resetTachoCount: Called outputClrCount on Port %s\n',...
- motor.port);
- end
- end
-
function [type,mode] = getTypeMode(motor)
- if ~motor.isConnected
- error(['Motor::getTypeMode: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
+ if ~motor.connectedToBrick
+ error(['Motor::getTypeMode: Motor-Object not connected to comm handle.',...
+ 'You have to call motor.connect(commInterface) first!']);
end
- [typeNo,modeNo] = motor.brick.inputDeviceGetTypeMode(0, motor.portInput);
+ [typeNo,modeNo] = motor.commInterface.inputDeviceGetTypeMode(0, motor.portInput);
type = DeviceType(typeNo);
mode = DeviceMode(type,modeNo);
if motor.debug
fprintf('(DEBUG) Motor::getTypeMode: Called inputDeviceGetTypeMode on Port %s\n',...
- motor.port);
+ port2str('Motor', motor.port));
end
end
function status = getStatus(motor)
- if ~motor.isConnected
- error(['Motor::getStatus: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
+ if ~motor.connectedToBrick
+ error(['Motor::getStatus: Motor-Object not connected to comm handle.',...
+ 'You have to call motor.connect(commInterface) first!']);
end
- statusNo = motor.brick.inputDeviceGetConnection(0, motor.portInput);
+ statusNo = motor.commInterface.inputDeviceGetConnection(0, motor.portInput);
status = ConnectionType(statusNo);
if motor.debug
fprintf('(DEBUG) Motor::getStatus: Called inputDeviceGetConnection on Port %s\n',...
- motor.port);
+ port2str('Motor', motor.port));
end
end
function cnt = getTachoCount(motor)
- if ~motor.isConnected
- error(['Motor::getTachoCount: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
- elseif ~motor.motorAtPort
- error('Motor::getTachoCount: No physical motor connected to Port %s',...
- motor.port);
+ if ~motor.connectedToBrick
+ error(['Motor::getTachoCount: Motor-Object not connected to comm handle.',...
+ 'You have to call motor.connect(commInterface) first!']);
end
- if motor.mode == DeviceMode.Motor.Degrees
- cnt = motor.brick.outputGetCount(0, motor.portNo);
- if motor.debug
- fprintf('(DEBUG) Motor::getTachoCount: Called outputGetCount on Port %s\n', motor.port);
- end
- elseif motor.mode == DeviceMode.Motor.Rotations
- cnt = motor.brick.inputReadSI(0, motor.portInput, motor.mode);
- if motor.debug
- fprintf('(DEBUG) Motor::getTachoCount: Called inputReadSI on Port %s\n', motor.port);
- end
- else
- error('Motor::getTachoCount: Motor mode not valid!');
+ cnt = motor.commInterface.outputGetCount(0, motor.portNo);
+ if motor.debug
+ fprintf('(DEBUG) Motor::getTachoCount: Called outputGetCount on Port %s\n', port2str('Motor', motor.port));
end
end
function speed = getSpeed(motor)
- if ~motor.isConnected
- error(['Motor::getSpeed: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
- elseif ~motor.motorAtPort
- error('Motor::getSpeed: No physical motor connected to Port %s',...
- motor.port);
+ if ~motor.connectedToBrick
+ error(['Motor::getSpeed: Motor-Object not connected to comm handle.',...
+ 'You have to call motor.connect(commInterface) first!']);
end
- if ~motor.speedRegulation
- warning('Motor::getSpeed: Speed only valid with speed regulation turned on.');
+ speed = motor.commInterface.inputReadSI(0, motor.portInput, DeviceMode.Motor.Speed);
+
+ if motor.debug
+ fprintf('(DEBUG) Motor::getSpeed: Called inputReadSI on Port %s\n', port2str('Motor', motor.port));
end
- speed = motor.brick.inputReadSI(0, motor.portInput, DeviceMode.Motor.Speed);
+ 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::getSpeed: Called inputReadSI on Port %s\n', motor.port);
+ fprintf('(DEBUG) Motor::isRunning: Called outputReady on Port %s\n', port2str('Motor', motor.port));
end
end
end
- methods (Hidden, Access = 'protected') % Wrapper for utility functions, hidden from user
- % These are overridden in SyncMotor so the 'right' utility function
- % will always be called.
- function portNo = getPortNo(motor)
- if isempty(motor.port_)
- error(['Motor::portNo: This method should only be called AFTER ',...
- 'setting motor.port.']);
+ methods (Access = {?EV3})
+ function connect(motor,commInterface)
+ %connect Connects Motor-object to physical brick.
+ %
+ % Notes:
+ % * This method actually only saves a handle to a Brick-object which has been
+ % created beforehand (probably by an EV3-object).
+ %
+ % Arguments
+ % * commInterface: instance of Brick-class
+ %
+ % Examples (for use without EV3-class)
+ % m = Motor();
+ % brickInterface = Brick('usb');
+ % m.connect(brickInterface);
+ % % do stuff
+ %
+
+ if motor.connectedToBrick
+ if isCommInterfaceValid(motor.commInterface)
+ error('Motor::connect: Motor-Object already has a comm handle.');
+ else
+ warning(['Motor::connect: Motor.connectedToBrick is set to ''True'', but ',...
+ 'comm handle is invalid. Deleting invalid handle and ' ,...
+ 'resetting Motor.connectedToBrick now...']);
+
+ motor.commInterface = 0;
+ motor.connectedToBrick = false;
+
+ error('Motor::connect: Disconnected due to internal error.');
+ end
end
- portNo = bitfield2port(motor.port_);
+ motor.commInterface = commInterface;
+ motor.connectedToBrick = true;
+
+ if motor.debug
+ fprintf('(DEBUG) Motor-Object connected to comm handle.\n');
+ end
end
- function portInput = getPortInput(motor)
- if isempty(motor.port_)
- error(['Motor::portInput: This method should only be called AFTER ',...
- 'setting motor.port.']);
- end
+ function disconnect(motor)
+ %disconnect Disconnects Motor-object from physical brick.
+ %
+ % Notes:
+ % * As with Motor::connect, this method actually only sets the property, in which
+ % the handle to the Brick-class was stored, to 0.
+ %
+ % Examples (for use without EV3-class)
+ % m = Motor();
+ % brickInterface = Brick('usb');
+ % m.connect(brickInterface);
+ % % do stuff
+ % m.disconnect();
+ % brickInterface.delete(); % Actual disconnecting!!!
+ %
- portInput = port2input(motor.portNo);
+ motor.commInterface = 0; % Note: actual deleting is done in EV3::disconnect.
+ motor.connectedToBrick = false;
end
end
end
diff --git a/source/MotorPort.m b/source/MotorPort.m
index c4e5386f79441d413f023b0fa51ee485b645f793..a25cf54630c46cbd0ffa6c3d5ba9132111fb636a 100644
--- a/source/MotorPort.m
+++ b/source/MotorPort.m
@@ -5,5 +5,4 @@ classdef MotorPort < uint8
MotorC (2)
MotorD (3)
end
-end
-
+end
\ No newline at end of file
diff --git a/source/Sensor.m b/source/Sensor.m
index f794ae8663cfdca07813e7aacc0e91dc47abcef2..bf2c60e690c67d752a83b3581b0e69c3535cf40c 100644
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -4,21 +4,18 @@ classdef Sensor < handle
% Properties:
% Standard
% debug - Debug mode turned on or off
- % mode - Sensor mode in which the value will be read
+ % mode - Sensor mode in which the values will be read
% Dependent
% value - Value read from sensor
- % get-only
- % isConnected - Is virtual brick connected to physical one?
- % brick - Brick object from sublayer class Brick -> used as interface to the physical brick.
+ % type - Type of connected sensor if any
%
% Methods:
% Standard
- % EV3 -
- % connect - Connects Sensor-object to physical brick.
- % disconnect - Disconnects Sensor-object from physical brick.
- % update - Updates Sensor-object to current status at its port.
+ % EV3
+ % connect - Connects Sensor-object to physical brick
+ % disconnect - Disconnects Sensor-object from physical brick
% reset - Resets value on sensor
- % setProperties - Sets multiple Sensor properties at once using MATLAB's inputParser.
+ % setProperties - Sets multiple Sensor properties at once using MATLAB's inputParser
%
% Example
% % This small example should only roughly demonstrate how to work with sensors.
@@ -27,7 +24,7 @@ classdef Sensor < handle
%
% b = EV3();
% b = EV3('debug', 'on', 'batteryMode', 'Voltage');
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.sensor1.mode = DeviceMode.Touch.Bumps;
% while value < 10
% pause(0.1);
@@ -40,226 +37,120 @@ classdef Sensor < handle
% Signature
% Author: Tim Stadtmann
% Date: 2016/05/20
+ % Updated: 2016/08/15
properties % Standard properties to be set by user
+ %mode - Sensor mode in which the value will be read
+ % -> DeviceMode.[...] (except for DeviceMode.Motor.[...])
+ mode;
+
%debug - Debug turned on or off
% In debug mode, everytime a command is passed to the sublayer ('communication layer'),
% there is feedback in the console about what command has been called, etc.
% -> Any valid boolean (0/1/'on'/'off'/'true'/'false')
debug;
-
- %mode - Sensor mode in which the value will be read
- % -> DeviceMode.[...] (except for DeviceMode.Motor.[...])
- mode;
end
- properties (Dependent) % Parameters to be read directly from physical brick
- value % Value read from sensor
- end
-
- properties (SetAccess = 'private') % Read-only properties that are set internally or in init-phase
- %sensorAtPort - Is physical sensor actually connected to port?
- % This property will be changed by Sensor.update() if changes have happened on the
- % physical brick, depending on status, type and mode values.
- % See also STATUS, TYPE, MODE, UPDATE
- sensorAtPort = 0;
-
- %brick - Brick object from sublayer class Brick -> used as interface to the physical brick.
- % See also BRICK
- brick = 0;
-
+ properties (SetAccess = 'private')
%port - Sensor port
% This is only the string representation of the sensor port to work with.
- % Internally, SensorPort-enums are used. (This is a bit inconvenient but more
- % consistent compared with Motor)
+ % Internally, SensorPort-enums are used.
% -> '1' / '2' / '3' / '4'
- port;
+ port;
+ end
+
+ properties (Dependent) % Parameters to be read directly from physical brick
+ value; % Value read from sensor
+ type; % Physical sensor connected to this port?
+ end
+
+ properties (Hidden, Access = 'private') % Hidden properties for internal use only
+ commInterface = 0; % Communication interface
- %status - Connection status at port
- % This property will be changed by Sensor.update() if changes have happened on the
- % physical brick.
- % See also CONNECTIONTYPE, UPDATE
- status = DeviceMode.Error.Undefined;
+ %% Miscallenous flags
- %type - Device type at port
- % This property will be changed by Sensor.update() if changes have happened on the
- % physical brick.
- % See also DEVICEMODE.ERROR, UPDATE
- type = DeviceMode.Error.Undefined;
+ connectedToBrick = false; % Does (virtual) sensor-object have a valid brick-handle?
+ init = true; % Indicates 'init-phase' (True as long as constructor is running)
end
- properties (Hidden, Access = 'private') % Hidden properties for internal use only
- init = 1; % Is set to zero after initial 'creating' phase is done.
- isConnected = 0; % Does (virtual) sensor-object have a valid brick-handle?
-
- %% Equivalent for Sensor.port in enumeration SensorPort
- % Port is an actual parameter on the physical brick. To avoid using string
- % comparisons each time it is used, the corresponding value (i.e. '1' -> SensorPort.Sensor1)
- % to the given strings is saved (hidden from the user).
- port_;
+ properties (Hidden, Dependent, Access = 'private')
+ physicalSensorConnected; % Physical sensor connected to this port?
end
methods % Standard methods
%% Constructor
function sensor = Sensor(varargin)
sensor.setProperties(varargin{1:end});
- sensor.init = 0;
- end
-
- %% Connection
- function connect(sensor,brick)
- %connect Connects Sensor-object to physical brick
- if sensor.isConnected
- if isBrickValid(sensor.brick)
- error('Sensor::connect: Sensor-Object already has a brick handle.');
- else
- warning(['Sensor::connect: Sensor.isConnected is set to ''True'', but ',...
- 'brick handle is invalid. Deleting invalid handle and ' ,...
- 'resetting Sensor.isConnected now...']);
-
- sensor.brick = 0;
- sensor.isConnected = 0;
-
- error('Sensor::connect: Aborted connection.');
- end
- end
-
- sensor.brick = brick;
- sensor.isConnected = 1;
-
- if sensor.debug
- fprintf('(DEBUG) Sensor-Object connected to brick handle.\n');
- end
-
- sensor.update();
- end
-
- function disconnect(sensor)
- %disconnect Disconnects Sensor-object from physical brick
-% if ~sensor.isConnected
-% error('Sensor::disconnect: No brick connected.');
-% end
-
- sensor.brick = 0; % Note: actual deleting is done in EV3::disconnect.
- sensor.isConnected = 0;
- sensor.sensorAtPort = 0;
-
- sensor.status = DeviceMode.Error.Undefined;
- sensor.type = DeviceMode.Error.Undefined;
- end
-
- function update(sensor)
- %update Updates Sensor-object to current status at its port.
- if ~sensor.isConnected
- error(['Sensor::update: Sensor-Object not connected to brick handle.',...
- 'You have to call sensor.connect(brick) first!']);
- end
-
- oldMode = sensor.mode;
-
- sensor.status = sensor.getStatus();
- [sensor.type, newMode] = sensor.getTypeMode();
-
- if strcmp(class(oldMode),class(newMode)) && oldMode~=newMode
- if ~strcmp(class(oldMode), 'DeviceMode.Error') && ...
- ~strcmp(class(newMode), 'DeviceMode.Error')
- %warning(['Sensor::update: Physical sensor''s mode was not ',...
- % 'the specified one. Changing...']);
-
- sensor.setMode(oldMode);
- sensor.mode = oldMode;
- end
- else
- sensor.mode = newMode;
- end
-
- validStatus = [ConnectionType.NXTColor, ConnectionType.NXTDumb, ConnectionType.NXTIIC, ...
- ConnectionType.InputDumb, ConnectionType.InputUART];
- validTypes = [DeviceType.NXTTouch, DeviceType.NXTColor, ...
- DeviceType.NXTLight, DeviceType.NXTSound, ...
- DeviceType.NXTTemperature, DeviceType.NXTUltraSonic, ...
- DeviceType.Color, DeviceType.Gyro, DeviceType.InfraRed, ...
- DeviceType.Touch, DeviceType.UltraSonic];
-
- sensor.sensorAtPort = 1;
- if ~ismember(sensor.status, validStatus) || ~ismember(sensor.type, validTypes) || ...
- strcmp(class(sensor.mode), 'DeviceMode.Error')
- sensor.sensorAtPort = 0;
- end
+ sensor.init = false;
end
%% Brick functions
function reset(sensor)
%reset Resets value on sensor
% Note: This clears ALL the sensors right now, no other Op-Code available... :(
- if ~sensor.isConnected
- error(['Sensor::reset: Sensor-Object not connected to brick handle.',...
- 'You have to call sensor.connect(brick) first!']);
- elseif ~sensor.sensorAtPort
- error('Sensor::reset: No physical sensor connected to Port %s.',...
- sensor.port);
+ if ~sensor.connectedToBrick
+ error(['Sensor::reset: Sensor-Object not connected to comm handle.',...
+ 'You have to call sensor.connect(commInterface) first!']);
+ elseif ~sensor.physicalSensorConnected
+ error('Sensor::reset: No physical sensor connected to Port %d.',...
+ sensor.port+1);
end
warning(['Sensor::reset: Current version of reset resets ALL devices, that is, ',...
'all motor tacho counts and all other sensor counters!']);
- sensor.brick.inputDeviceClrAll(0);
+ sensor.commInterface.inputDeviceClrAll(0);
if sensor.debug
- fprintf('(DEBUG) Sensor::reset: Called inputReadSI on Port %s.\n',...
- sensor.port);
+ fprintf('(DEBUG) Sensor::reset: Called inputReadSI on Port %d.\n',...
+ sensor.port+1);
end
end
%% Setter
- function set.brick(sensor, brick)
- if ~isBrickValid(brick)
- error('Sensor::set.brick: Handle to brick not valid.');
- else
- sensor.brick = brick;
- end
- end
-
- function set.port(sensor, port)
- if ~isPortValid(class(sensor),port)
- error('Sensor::set.port: Given port is not a valid port.');
+ function set.mode(sensor, mode)
+ if strcmp(class(mode),'DeviceMode.Default') && ~sensor.physicalSensorConnected
+ sensor.mode = mode;
+ return;
end
- if ischar(port)
- sensor.port = port;
- sensor.port_ = str2PortParam(class(sensor), port);
+ type = sensor.type;
+ if ~isModeValid(mode, type)
+ error('Sensor::set.mode: Invalid sensor mode.');
else
- error('Sensor::set.port: Port has to be a string.');
+ sensor.mode = mode;
+
+ if ~strcmp(class(mode),'DeviceMode.Default') && sensor.connectedToBrick
+ try
+ sensor.setMode(mode); % Update physical brick's mode parameter
+ catch
+ % Ignore
+ end
+ end
end
end
-
+
function set.debug(sensor, debug)
% Check if debug is valid and set sensor.debug if it is.
if ~isBool(debug)
error('Sensor::set.debug: Given parameter is not a bool.');
end
- if ischar(debug)
- sensor.debug = str2bool(debug);
+ sensor.debug = str2bool(debug);
+ end
+
+ function set.port(sensor, port)
+ if ~isPortStrValid(class(sensor),port)
+ error('Sensor::set.port: Given port is not a valid port.');
else
- sensor.debug = debug;
+ sensor.port = str2PortParam(class(sensor), port);
end
end
-
- function set.mode(sensor, mode)
- if strcmp(class(mode),'DeviceMode.Error') && ~sensor.sensorAtPort
- sensor.mode = mode;
- return;
- end
-
- if strcmp(class(mode), 'uint8') || strcmp(class(mode), 'double')
- mode = DeviceMode(sensor.type, uint8(mode));
- end
-
- if ~isModeValid(mode, sensor.type)
- error('Sensor::set.mode: Sensor mode is not valid.');
+
+ function set.commInterface(sensor, comm)
+ if ~isCommInterfaceValid(comm)
+ error('Sensor::set.commInterface: Handle to commInterface not valid.');
else
- sensor.mode = mode;
- sensor.setMode(mode);
+ sensor.commInterface = comm;
end
end
@@ -272,7 +163,7 @@ classdef Sensor < handle
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient);
% % Instead of: b.sensor1.debug = 'on';
% % b.sensor1.mode = DeviceMode.Color.Ambient;
@@ -283,7 +174,7 @@ classdef Sensor < handle
% Set default values
if sensor.init
defaultDebug = 0;
- defaultMode = DeviceMode.Error.Undefined;
+ defaultMode = DeviceMode.Default.Undefined;
else
defaultDebug = sensor.debug;
defaultMode = sensor.mode;
@@ -309,15 +200,37 @@ classdef Sensor < handle
%% Getter
function value = get.value(sensor)
- if ~sensor.isConnected || ~sensor.sensorAtPort
- warning('Sensor::get.value: Could not detect sensor at port %s.', ...
- sensor.port);
-
- value = 0;
- return;
- end
+ value = 0;
+ defaultMode = -1;
+% if ~isModeValid(sensor.mode, sensor.type)
+% warning('Sensor::get.value: Cannot read sensor values in current mode.');
+% return;
+% elseif strcmp(class(sensor.mode), 'DeviceMode.Default')
+% defaultMode = 0;
+% end
- value = sensor.getValue();
+ if sensor.connectedToBrick
+ value = sensor.getValue(defaultMode);
+ if isnan(value)
+ warning('Sensor::get.value: Could not detect sensor at port %d.', ...
+ sensor.port+1);
+ value = 0;
+ end
+ end
+ end
+
+ function conn = get.physicalSensorConnected(sensor)
+ currentType = sensor.type;
+ conn = (currentType<DeviceType.Unknown && ...
+ (currentType~=DeviceType.MediumMotor && currentType~=DeviceType.LargeMotor));
+ end
+
+ function sensorType = get.type(sensor)
+ if sensor.connectedToBrick
+ [sensorType, ~] = sensor.getTypeMode();
+ else
+ sensorType = DeviceType.Unknown;
+ end
end
%% Display
@@ -330,20 +243,24 @@ classdef Sensor < handle
methods (Access = 'private') % Private brick functions that are wrapped by dependent params
function setMode(sensor, mode)
- if ~sensor.isConnected || ~sensor.sensorAtPort
- return
+ 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);
end
- sensor.brick.inputReadSI(0, sensor.port_, mode); % Reading a value implicitly
- % sets the mode.
+ sensor.commInterface.inputReadSI(0, sensor.port, mode); % Reading a value implicitly
+ % sets the mode.
if sensor.debug
- fprintf('(DEBUG) Sensor::setMode: Called inputReadSI on Port %s\n',...
- sensor.port);
+ fprintf('(DEBUG) Sensor::setMode: Called inputReadSI on Port %d.\n',...
+ sensor.port+1);
end
end
- function val = getValue(sensor)
+ function val = getValue(sensor, varargin)
%getValue Reads value from sensor
%
% Notes
@@ -351,15 +268,27 @@ classdef Sensor < handle
% this case, the inputReadSI-opCode is sent again to get the correct value.
%
- if ~sensor.isConnected
- error(['Sensor::getValue: Sensor-Object not connected to brick handle.',...
- 'You have to call sensor.connect(brick) first!']);
- elseif ~sensor.sensorAtPort
- error('Sensor::getValue: No physical sensor connected to Port %d.',...
- sensor.port);
+ if ~isempty(varargin)
+ defaultMode = varargin{1};
+
+ % 5 is numerically highest available number of modes for a sensor(NXT Color)
+ if ~isnumeric(defaultMode) || defaultMode > 5
+ error('Sensor::getValue: Invalid mode');
+ end
+ else
+ defaultMode = -1;
+ end
+
+ if ~sensor.connectedToBrick
+ error(['Sensor::getValue: Sensor-Object not connected to comm handle.',...
+ 'You have to call sensor.connect(commInterface) first!']);
end
- val = sensor.brick.inputReadSI(0, sensor.port_, sensor.mode);
+ if defaultMode ~= -1
+ val = sensor.commInterface.inputReadSI(0, sensor.port, defaultMode);
+ else
+ val = sensor.commInterface.inputReadSI(0, sensor.port, sensor.mode);
+ end
if strcmp(class(sensor.mode), 'DeviceMode.Color')
if sensor.mode == DeviceMode.Color.Col
@@ -367,50 +296,90 @@ classdef Sensor < handle
end
end
+ % See note
if isnan(val)
- pause(0.01);
- val = sensor.brick.inputReadSI(0, sensor.port_, sensor.mode);
- if isnan(val)
- warning('Sensor::getValue: Brick returned invalid value (NaN). Try again...');
- end
+ val = sensor.commInterface.inputReadSI(0, sensor.port, sensor.mode);
+ if sensor.debug
+ fprintf('(DEBUG) Sensor::getValue: Called inputReadSI on Port %d.\n',...
+ sensor.port+1);
+ end
end
if sensor.debug
fprintf('(DEBUG) Sensor::getValue: Called inputReadSI on Port %d.\n',...
- sensor.port);
+ sensor.port+1);
end
end
function status = getStatus(sensor)
- if ~sensor.isConnected
- error(['Sensor::getStatus: Sensor-Object not connected to brick handle.',...
- 'You have to call sensor.connect(brick) first!']);
+ if ~sensor.connectedToBrick
+ error(['Sensor::getStatus: Sensor-Object not connected to comm handle.',...
+ 'You have to call sensor.connect(commInterface) first!']);
end
- statusNo = sensor.brick.inputDeviceGetConnection(0, sensor.port_);
+ statusNo = sensor.commInterface.inputDeviceGetConnection(0, sensor.port);
status = ConnectionType(statusNo);
if sensor.debug
- fprintf('(DEBUG) Sensor::getStatus: Called inputDeviceGetConnection on Port %s\n',...
- sensor.port);
+ fprintf(['(DEBUG) Sensor::getStatus: Called inputDeviceGetConnection on ' ,...
+ 'Port %d.\n'], sensor.port+1);
end
end
function [type,mode] = getTypeMode(sensor)
- if ~sensor.isConnected
- error(['Sensor::getTypeMode: Sensor-Object not connected to brick handle.',...
- 'You have to call sensor.connect(brick) first!']);
+ if ~sensor.connectedToBrick
+ error(['Sensor::getTypeMode: Sensor-Object not connected to comm handle.',...
+ 'You have to call sensor.connect(commInterface) first!']);
end
- [typeNo,modeNo] = sensor.brick.inputDeviceGetTypeMode(0, sensor.port_);
+ [typeNo,modeNo] = sensor.commInterface.inputDeviceGetTypeMode(0, sensor.port);
type = DeviceType(typeNo);
- mode = DeviceMode(type,modeNo);
+ try
+ mode = DeviceMode(type,modeNo);
+ catch ME
+ mode = DeviceMode.Default.Undefined;
+ end
if sensor.debug
- fprintf('(DEBUG) Sensor::getTypeMode: Called inputDeviceGetConnection on Port %s\n',...
- sensor.port);
+ fprintf(['(DEBUG) Sensor::getStatus: Called inputDeviceGetConnection on ' ,...
+ 'Port %d.\n'], sensor.port+1);
end
end
end
+
+ methods (Access = {?EV3})
+ function connect(sensor,commInterface)
+ %connect Connects Sensor-object to physical brick
+
+ if sensor.connectedToBrick
+ if isCommInterfaceValid(sensor.commInterface)
+ error('Sensor::connect: Sensor-Object already has a comm handle.');
+ else
+ warning(['Sensor::connect: Sensor.connectedToBrick is set to ''True'', but ',...
+ 'comm handle is invalid. Deleting invalid handle and ' ,...
+ 'resetting Sensor.connectedToBrick now...']);
+
+ sensor.commInterface = 0;
+ sensor.connectedToBrick = false;
+
+ error('Sensor::connect: Disconnected due to internal error.');
+ end
+ end
+
+ sensor.commInterface = commInterface;
+ sensor.connectedToBrick = true;
+
+ if sensor.debug
+ fprintf('(DEBUG) Sensor-Object connected to comm handle.\n');
+ end
+ end
+
+ function disconnect(sensor)
+ %disconnect Disconnects Sensor-object from physical brick
+
+ sensor.commInterface = 0; % Note: actual deleting is done in EV3::disconnect.
+ sensor.connectedToBrick = false;
+ end
+ end
end
diff --git a/source/SyncMotor.m b/source/_SyncMotor.m
similarity index 62%
rename from source/SyncMotor.m
rename to source/_SyncMotor.m
index eef93e5845ab4d9c6943b976bc32453779901d00..8ef432218c55fee29bc13d5a682fdfea2ad8a146 100644
--- a/source/SyncMotor.m
+++ b/source/_SyncMotor.m
@@ -1,12 +1,12 @@
classdef SyncMotor < Motor
% High-level class to synchronize two motors.
%
- % This class in combination with Motor.m is supposed to make the silmutaneous use of two
+ % This class in combination with Motor.m is supposed to make the silmutaneous use of two
% motors easier. In order to have functionality like physically
% blocking one of the two motors, while they are running, makes the other one stop, or
- % starting and stopping two motors with one command, this class overrides some methods from
+ % starting and stopping two motors with one command, this class overrides some methods from
% Motor to deliver a convenient interface for two Motor-objects at once.
- % This proves especially useful when e.g. building some kind of LEGO-'car' that should run straight
+ % This proves especially useful when e.g. building some kind of LEGO-'car' that should run straight
% on, and stop and start without delay on either motor.
%
% Properties:
@@ -19,14 +19,14 @@ classdef SyncMotor < Motor
% * An instance of this class affects the motor objects of an EV3 instance only when using
% update(). Therefore, the type, status and mode parameters will be set on both the
% motor objects AND the syncMotor object. Other parameters won't be affected.
- % * Polling dependent values that cannot be read from both motors at once
- % (tachoCount, speed) will only return the resp. value of the first given motor-object,
- % instead of throwing an error.
+ % * Polling dependent values that cannot be read from both motors at once
+ % (tachoCount, speed) will only return the resp. value of the first given motor-object,
+ % instead of throwing an error.
%
% Example
% % This small example should only roughly demonstrate how to work with synced motors.
- % % Establish connection, couple motors A & B, set properties on synced motor and wait
- % % until both motors are connected. After starting, output current speed every 100ms
+ % % Establish connection, couple motors A & B, set properties on synced motor and wait
+ % % until both motors are connected. After starting, output current speed every 100ms
% % until motors are turned off. Then output current tachoCounts and disconnect.
%
% b = EV3();
@@ -59,7 +59,7 @@ classdef SyncMotor < Motor
% Date: 2016/05/30
properties % Standard properties to be set by user
- %turnRatio (Excerpt of c_output.c): Turn ratio is how tight you turn and to what direction
+ %turnRatio (Excerpt of c_output.c): Turn ratio is how tight you turn and to what direction
% you turn (in [+-200]).
% -> 0 value is moving straight forward
% -> Negative values turn to the left
@@ -80,8 +80,8 @@ classdef SyncMotor < Motor
end
properties (Hidden, Dependent, Access = 'protected') % Hidden, dependent properties for internal use only
- portNo_sec;
- portInput_sec;
+ portNo_sec;
+ portInput_sec;
end
methods % Standard methods
@@ -100,7 +100,7 @@ classdef SyncMotor < Motor
% SyncMotor is only counted as 'connected' if both synced physical motors are
% connected.
if motor.motor1.motorAtPort + motor.motor2.motorAtPort < 2
- motor.motorAtPort = 0;
+ motor.motorAtPort = 0;
else
motor.motorAtPort = 1;
end
@@ -108,7 +108,7 @@ classdef SyncMotor < Motor
% Set parameters of SyncMotor-object randomly to the numerically 'higher' ones.
if uint8(motor.motor1.status) > uint8(motor.motor2.status)
motor.status = motor.motor1.status;
- else
+ else
motor.status = motor.motor2.status;
end
@@ -123,92 +123,92 @@ classdef SyncMotor < Motor
else
motor.mode = motor.motor2.mode;
end
-
-% if ~motor.isConnected
-% error(['Motor::update: Motor-Object not connected to brick handle.',...
-% 'You have to call syncMotor.connect(brick) first!']);
-% end
-%
-% % Get current status at both ports
-% [status, status_sec] = motor.getStatus();
-% [type, type_sec, mode, mode_sec] = motor.getTypeMode();
-%
-% % Conclude if both physical motors are connected
-% motor.motorAtPort = 0;
-% if uint8(status) >= uint8(ConnectionType.OutputDumb) && ...
-% uint8(status) <= uint8(ConnectionType.OutputTacho) && ... % Is status of motor1 valid?
-% uint8(status_sec) >= uint8(ConnectionType.OutputDumb) && ...
-% uint8(status) <= uint8(ConnectionType.OutputTacho) % Is status of motor2 valid?
-% if (type == DeviceType.MediumMotor || type == DeviceType.LargeMotor) && ... % Is type of motor1 valid?
-% (type_sec == DeviceType.MediumMotor || type_sec == DeviceType.LargeMotor) %Is type of motor2 valid?
-% if strcmp(class(mode), 'DeviceMode.Motor') && ... % Is mode of motor1 valid?
-% strcmp(class(mode_sec), 'DeviceMode.Motor') % Is mode of motor2 valid?
-% motor.motorAtPort = 1;
-% end
-% end
-% end
-%
-% % Set parameters of SyncMotor-object randomly to the numerically 'higher' ones.
-% if uint8(status) > uint8(status_sec)
-% motor.status = status;
-% else
-% motor.status = status_sec;
-% end
-%
-% if uint8(type) > uint8(type_sec)
-% motor.type = type;
-% else
-% motor.type = type_sec;
-% end
-%
-%
-% if motor.mode ~= mode && strcmp(class(mode), 'DeviceMode.Motor')
-% if mode == DeviceMode.Motor.Speed
-% mode = motor.mode; % This trick prevents set.mode from throwing an error if
-% % the physical motor's mode has internally been set to
-% % DeviceMode.Motor.Speed
-% else
-% warning(['Motor::update: Physical motor''s mode was not ',...
-% 'the specified one. Changing...']);
-% end
-% end
-% if uint8(mode) > uint8(mode_sec)
-% motor.mode = mode;
-% else
-% motor.mode = mode_sec;
-% end
+
+ % if ~motor.isConnected
+ % error(['Motor::update: Motor-Object not connected to brick handle.',...
+ % 'You have to call syncMotor.connect(brick) first!']);
+ % end
+ %
+ % % Get current status at both ports
+ % [status, status_sec] = motor.getStatus();
+ % [type, type_sec, mode, mode_sec] = motor.getTypeMode();
+ %
+ % % Conclude if both physical motors are connected
+ % motor.motorAtPort = 0;
+ % if uint8(status) >= uint8(ConnectionType.OutputDumb) && ...
+ % uint8(status) <= uint8(ConnectionType.OutputTacho) && ... % Is status of motor1 valid?
+ % uint8(status_sec) >= uint8(ConnectionType.OutputDumb) && ...
+ % uint8(status) <= uint8(ConnectionType.OutputTacho) % Is status of motor2 valid?
+ % if (type == DeviceType.MediumMotor || type == DeviceType.LargeMotor) && ... % Is type of motor1 valid?
+ % (type_sec == DeviceType.MediumMotor || type_sec == DeviceType.LargeMotor) %Is type of motor2 valid?
+ % if strcmp(class(mode), 'DeviceMode.Motor') && ... % Is mode of motor1 valid?
+ % strcmp(class(mode_sec), 'DeviceMode.Motor') % Is mode of motor2 valid?
+ % motor.motorAtPort = 1;
+ % end
+ % end
+ % end
+ %
+ % % Set parameters of SyncMotor-object randomly to the numerically 'higher' ones.
+ % if uint8(status) > uint8(status_sec)
+ % motor.status = status;
+ % else
+ % motor.status = status_sec;
+ % end
+ %
+ % if uint8(type) > uint8(type_sec)
+ % motor.type = type;
+ % else
+ % motor.type = type_sec;
+ % end
+ %
+ %
+ % if motor.mode ~= mode && strcmp(class(mode), 'DeviceMode.Motor')
+ % if mode == DeviceMode.Motor.Speed
+ % mode = motor.mode; % This trick prevents set.mode from throwing an error if
+ % % the physical motor's mode has internally been set to
+ % % DeviceMode.Motor.Speed
+ % else
+ % warning(['Motor::update: Physical motor''s mode was not ',...
+ % 'the specified one. Changing...']);
+ % end
+ % end
+ % if uint8(mode) > uint8(mode_sec)
+ % motor.mode = mode;
+ % else
+ % motor.mode = mode_sec;
+ % end
end
%% Brick functions
function start(motor)
if ~motor.isConnected
error(['SyncMotor::start: Motor-Object not connected to brick handle. ',...
- 'You have to call syncMotor.connect(brick) first!']);
+ 'You have to call syncMotor.connect(brick) first!']);
elseif ~motor.motorAtPort
error(['SyncMotor::start: One or more physical motors not connected to ',...
- 'respective port.']);
+ 'respective port.']);
end
if motor.power == 0
- warning('Motor::start: Motor starting with power=0.');
+ warning('Motor::start: Motor starting with power=0.');
end
if strcmpi(motor.limitMode, 'Tacho')
- motor.brick.outputStepSync(0, motor.port_, ...
- motor.power, motor.turnRatio, ...
- motor.limitValue, motor.brakeMode_);
- if motor.debug
- fprintf('(DEBUG) SyncMotor::start: Called outputStepSync on Port %s\n',...
- motor.port);
- end
+ motor.brick.outputStepSync(0, motor.port_, ...
+ motor.power, motor.turnRatio, ...
+ motor.limitValue, motor.brakeMode_);
+ if motor.debug
+ fprintf('(DEBUG) SyncMotor::start: Called outputStepSync on Port %s\n',...
+ motor.port);
+ end
elseif strcmpi(motor.limitMode, 'Time')
motor.brick.outputTimeSync(0, motor.port_, ...
- motor.power, motor.turnRatio, ...
- motor.limitValue, motor.brakeMode_);
- if motor.debug
- fprintf('(DEBUG) SyncMotor::start: Called outputStepSync on Port %s\n',...
- motor.port);
- end
+ motor.power, motor.turnRatio, ...
+ motor.limitValue, motor.brakeMode_);
+ if motor.debug
+ fprintf('(DEBUG) SyncMotor::start: Called outputStepSync on Port %s\n',...
+ motor.port);
+ end
end
motor.motor1.changed = 1;
motor.motor2.changed = 1;
@@ -216,19 +216,19 @@ classdef SyncMotor < Motor
function waitFor(motor)
%waitFor Stops execution of program as long as motor is running with tacholimit.
- %
+ %
% See also: MOTOR.waitFor
if ~motor.isConnected
error(['Motor::waitFor: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
+ 'You have to call motor.connect(brick) first!']);
elseif ~motor.motorAtPort
error('Motor::waitFor: No physical motor connected to Port %s',...
- motor.port);
+ motor.port);
elseif ~motor.limitValue
error(['Motor::waitFor: Motor has no tacho limit. ' ,...
- 'Can''t reliably determine whether it is running or not.']);
- end
+ 'Can''t reliably determine whether it is running or not.']);
+ end
tic;
while 1
@@ -239,8 +239,8 @@ classdef SyncMotor < Motor
t = toc;
if t < 1
- while motor.isRunning() % If outputReady correctly returned in less
- % than a second, isRunning should instantly send 0.
+ while motor.isRunning() % If outputReady correctly returned in less
+ % than a second, isRunning should instantly send 0.
end
end
@@ -261,10 +261,10 @@ classdef SyncMotor < Motor
if ~motor.isConnected
error(['Motor::isRunning: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
+ 'You have to call motor.connect(brick) first!']);
elseif ~motor.motorAtPort
error('Motor::isRunning: No physical motor connected to Port %s',...
- motor.port);
+ motor.port);
end
running = motor.brick.outputTest(0, motor.port_);
@@ -288,18 +288,18 @@ classdef SyncMotor < Motor
syncMotor.turnRatio = turnRatio;
end
-% function set.keepSynchronized(syncMotor, keepSync)
-% % Check if keepSync is a valid bool and set syncedMotor.keepSynchronized if it is.
-% if ~isBool(keepSync)
-% error('SyncedMotor::set.keepSynchronized: Given parameter is not a bool.');
-% end
-%
-% if ischar(keepSync)
-% syncMotor.keepSynchronized = str2bool(keepSync);
-% else
-% syncMotor.keepSynchronized = keepSync;
-% end
-% end
+ % function set.keepSynchronized(syncMotor, keepSync)
+ % % Check if keepSync is a valid bool and set syncedMotor.keepSynchronized if it is.
+ % if ~isBool(keepSync)
+ % error('SyncedMotor::set.keepSynchronized: Given parameter is not a bool.');
+ % end
+ %
+ % if ischar(keepSync)
+ % syncMotor.keepSynchronized = str2bool(keepSync);
+ % else
+ % syncMotor.keepSynchronized = keepSync;
+ % end
+ % end
function set.motor1(syncMotor, motor1)
% Check if motor1 is valid and set syncMotor.motor1 if it is.
@@ -320,22 +320,22 @@ classdef SyncMotor < Motor
syncMotor.motor2 = motor2;
end
end
-
+
function setProperties(motor, varargin)
%setProperties Sets multiple Motor properties at once using MATLAB's inputParser.
%
% Arguments
% * 'motor1', instance of Motor-class
% * 'motor2', instance of Motor-class
- % * 'turnRatio', integer or double in [-200, 200]
+ % * 'turnRatio', integer or double in [-200, 200]
% * all Motor.setProperties arguments
%
% Example
- % b = EV3();
+ % b = EV3();
% b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
% s = b.coupleMotors('AB', 'useMotorParams', 0);
% s.setProperties('power', 70, 'debug', 'true', 'turnRatio', 100, 'brakeMode', 'Coast');
- %
+ %
p = inputParser();
p.KeepUnmatched = 1; % Unmatched parameters are (probably) Motor-parameters.
@@ -356,13 +356,13 @@ classdef SyncMotor < Motor
% Parse...
if motor.init
- p.parse(varargin{1:2}, varargin{4:end}); % Skip 'port' which is only needed
- % for Motor::setProperties.
+ p.parse(varargin{1:2}, varargin{4:end}); % Skip 'port' which is only needed
+ % for Motor::setProperties.
else
p.parse(varargin{:});
end
- % Set properties
+ % Set properties
if motor.init
motor.motor1 = p.Results.motor1;
motor.motor2 = p.Results.motor2;
@@ -371,9 +371,9 @@ classdef SyncMotor < Motor
% Set Motor-parameters, SyncMotor-parameters will be ignored.
if motor.init
- setProperties@Motor(motor, varargin{3:end}); % Skip 'motor1' and 'motor2'
- % which are only needed for
- % SyncMotor::setProperties
+ setProperties@Motor(motor, varargin{3:end}); % Skip 'motor1' and 'motor2'
+ % which are only needed for
+ % SyncMotor::setProperties
else
setProperties@Motor(motor, varargin{:});
end
@@ -395,33 +395,33 @@ classdef SyncMotor < Motor
return;
end
- % Save in Motor-objects that their power does not equal the physical Brick's power
+ % Save in Motor-objects that their power does not equal the physical Brick's power
% anymore
if ~motor.init % In init-phase, motors 1&2 have not been set yet
- motor.motor1.changed = 1;
+ motor.motor1.changed = 1;
motor.motor2.changed = 1;
motor.changed = 0;
end
-
+
if motor.isRunning()
warning(['SyncMotor::setPower: Can''t set power if two motors are running ',...
- 'synchronized. Changes will be effective on next start.']);
+ 'synchronized. Changes will be effective on next start.']);
return;
end
-% setPower@Motor(motor,power);
+ % setPower@Motor(motor,power);
end
function setMode(motor, mode)
setMode@Motor(motor, mode);
- motor.brick.inputReadSI(0, motor.portInput_sec, mode); % Reading a value implicitly
- % sets the mode.
-
+ motor.brick.inputReadSI(0, motor.portInput_sec, mode); % Reading a value implicitly
+ % sets the mode.
+
if motor.debug
fprintf('(DEBUG) Motor::setMode: Called inputReadSI on input port %d\n',...
- uint8(motor.portInput_sec));
- end
+ uint8(motor.portInput_sec));
+ end
% oldMode = motor.mode;
% if oldMode~=newMode
% if ~strcmp(class(oldMode), 'DeviceMode.Error') && ...
@@ -444,7 +444,7 @@ classdef SyncMotor < Motor
function [type,type_sec,mode,mode_sec] = getTypeMode(motor)
if ~motor.isConnected
error(['SyncMotor::getTypeMode: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
+ 'You have to call motor.connect(brick) first!']);
end
[typeNo,modeNo] = motor.brick.inputDeviceGetTypeMode(0, motor.motor1.portInput);
@@ -457,14 +457,14 @@ classdef SyncMotor < Motor
if motor.debug
fprintf(['(DEBUG) SyncMotor::getTypeMode: Called inputDeviceGetTypeMode on Ports ',...
- '%s.\n'], motor.port);
+ '%s.\n'], motor.port);
end
end
function [status, status_sec] = getStatus(motor)
if ~motor.isConnected
error(['SyncMotor::getStatus: Motor-Object not connected to brick handle.',...
- 'You have to call motor.connect(brick) first!']);
+ 'You have to call motor.connect(brick) first!']);
end
statusNo = motor.brick.inputDeviceGetConnection(0, motor.motor1.portInput);
@@ -475,88 +475,90 @@ classdef SyncMotor < Motor
if motor.debug
fprintf('(DEBUG) SyncMotor::getStatus: Called inputDeviceGetConnection on Ports %s\n',...
- motor.port);
+ motor.port);
end
end
function cnt = getTachoCount(motor)
warning(['SyncMotor::getTachoCount: Tacho count is not valid for SyncMotor! ',...
- 'Return corresponding value of first motor...']);
+ 'Return corresponding value of first motor...']);
cnt = getTachoCount@Motor(motor);
-% if motor.mode == DeviceMode.Motor.Degrees
-% cnt_sec = motor.brick.outputGetCount(0, motor.portNo_sec);
-% if motor.debug
-% fprintf(['(DEBUG) Motor::getTachoCount: Called outputGetCount on port ' ,...
-% 'no %d\n'], motor.portNo_sec);
-% end
-% elseif motor.mode == DeviceMode.Motor.Rotations
-% cnt_sec = motor.brick.inputReadSI(0, motor.portInput_sec, motor.mode);
-% if motor.debug
-% fprintf('(DEBUG) Motor::getSpeed: Called inputReadSI on input port %d\n', ...
-% motor.portInput_sec);
-% end
-% end
+ % if motor.mode == DeviceMode.Motor.Degrees
+ % cnt_sec = motor.brick.outputGetCount(0, motor.portNo_sec);
+ % if motor.debug
+ % fprintf(['(DEBUG) Motor::getTachoCount: Called outputGetCount on port ' ,...
+ % 'no %d\n'], motor.portNo_sec);
+ % end
+ % elseif motor.mode == DeviceMode.Motor.Rotations
+ % cnt_sec = motor.brick.inputReadSI(0, motor.portInput_sec, motor.mode);
+ % if motor.debug
+ % fprintf('(DEBUG) Motor::getSpeed: Called inputReadSI on input port %d\n', ...
+ % motor.portInput_sec);
+ % end
+ % end
end
function speed = getSpeed(motor)
warning(['SyncMotor::getSpeed: Speed is not a valid parameter of SyncMotor!',...
- 'Return corresponding value of first motor...']);
+ 'Return corresponding value of first motor...']);
speed = getSpeed@Motor(motor);
-% speed_sec = motor.brick.inputReadSI(0, motor.portInput_sec, DeviceMode.Motor.Speed);
-% if motor.debug
-% fprintf('(DEBUG) Motor::getSpeed: Called inputReadSI on input port %d\n', ...
-% motor.portInput_sec);
-% end
+ % speed_sec = motor.brick.inputReadSI(0, motor.portInput_sec, DeviceMode.Motor.Speed);
+ % if motor.debug
+ % fprintf('(DEBUG) Motor::getSpeed: Called inputReadSI on input port %d\n', ...
+ % motor.portInput_sec);
+ % end
end
end
methods (Hidden, Access = 'protected') % Wrapper for utility functions, hidden from user
function portNo = getPortNo(motor)
-% warning(['SyncMotor::getPortNo: Port number is not valid for SyncMotor!',...
-% 'Return corresponding value of first motor...']);
+ % warning(['SyncMotor::getPortNo: Port number is not valid for SyncMotor!',...
+ % 'Return corresponding value of first motor...']);
portNo = motor.motor1.portNo;
-% if isempty(motor.port)
-% error(['SyncMotor::portNo: This method should only be called AFTER ',...
-% 'setting motor.port.']);
-% end
-%
-% [~, portNo, ~, ~, ~] = str2PortParam(class(motor), motor.port);
+ % if isempty(motor.port)
+ % error(['SyncMotor::portNo: This method should only be called AFTER ',...
+ % 'setting motor.port.']);
+ % end
+ %
+ % [~, portNo, ~, ~, ~] = str2PortParam(class(motor), motor.port);
end
function portInput = getPortInput(motor)
-% warning(['SyncMotor::getPortInput: Port input number is not valid for SyncMotor!',...
-% 'Return corresponding value of first motor...']);
+ % warning(['SyncMotor::getPortInput: Port input number is not valid for SyncMotor!',...
+ % 'Return corresponding value of first motor...']);
portInput = motor.motor1.portInput;
-% if isempty(motor.port)
-% error(['SyncMotor::portInput: This method should only be called AFTER ',...
-% 'setting motor.port.']);
-% end
-%
-% [~, ~, portInput, ~, ~] = str2PortParam(class(motor), motor.port);
+ % if isempty(motor.port)
+ % error(['SyncMotor::portInput: This method should only be called AFTER ',...
+ % 'setting motor.port.']);
+ % end
+ %
+ % [~, ~, portInput, ~, ~] = str2PortParam(class(motor), motor.port);
end
function portNo_sec = getPortNo_sec(motor)
portNo_sec = motor.motor2.portNo;
-% if isempty(motor.port)
-% error(['SyncMotor::portNo: This method should only be called AFTER ',...
-% 'setting motor.port.']);
-% end
-%
-% [~, ~, ~, portNo_sec, ~] = str2PortParam(class(motor), motor.port);
+ % if isempty(motor.port)
+ % error(['SyncMotor::portNo: This method should only be called AFTER ',...
+ % 'setting motor.port.']);
+ % end
+ %
+ % [~, ~, ~, portNo_sec, ~] = str2PortParam(class(motor), motor.port);
end
function portInput_sec = getPortInput_sec(motor)
portInput_sec = motor.motor2.portInput;
-% if isempty(motor.port)
-% error(['SyncMotor::portInput: This method should only be called AFTER ',...
-% 'setting motor.port.']);
-% end
-%
-% [~, ~, ~, ~, portInput_sec] = str2PortParam(class(motor), motor.port);
+ % if isempty(motor.port)
+ % error(['SyncMotor::portInput: This method should only be called AFTER ',...
+ % 'setting motor.port.']);
+ % end
+ %
+ % [~, ~, ~, ~, portInput_sec] = str2PortParam(class(motor), motor.port);
end
end
end
+
+
diff --git a/source/bitfield2input.m b/source/bitfield2input.m
new file mode 100644
index 0000000000000000000000000000000000000000..2f59bb0151480c5a940484ff5c9fee9fdb8f48fc
--- /dev/null
+++ b/source/bitfield2input.m
@@ -0,0 +1,10 @@
+function inputPort = bitfield2input(bitfield)
+% Converts a motor-bitfield to motor-inputport-number(s).
+ [isSynced, ~, ~] = isSyncedBitfield(bitfield);
+ if isSynced
+ ports = bitfield2port(bitfield);
+ inputPort = [port2input(ports(1)), port2input(ports(2))];
+ else
+ inputPort = port2input(bitfield2port(bitfield));
+ end
+end
\ No newline at end of file
diff --git a/source/bitfield2port.m b/source/bitfield2port.m
index 1b5ab929ce9cf5c1f7abf484ce087e9965c40f3d..85f52b0f046d51cb9393d89ab85d4dbbe839d460 100644
--- a/source/bitfield2port.m
+++ b/source/bitfield2port.m
@@ -1,4 +1,9 @@
function port = bitfield2port(bitfield)
-% Converts motorBitfield-enum to motorPort-enum.
- port = MotorPort(log2(double(bitfield)));
+% Converts motor-bitfield to motor-port-number(s).
+ [isSynced, b1, b2] = isSyncedBitfield(bitfield);
+ if isSynced
+ port = [b1-1, b2-1];
+ else
+ port = uint8(log2(double(bitfield)));
+ end
end
\ No newline at end of file
diff --git a/source/bool2str.m b/source/bool2str.m
index e8200152f05a8a02974fa817506215797423fcc1..f397f84234c4cf30949d92ffb176ebe1dcd0065c 100644
--- a/source/bool2str.m
+++ b/source/bool2str.m
@@ -10,6 +10,10 @@ function bool = bool2str(inp)
elseif inp~=0
error('bool2str: Not a valid boolean.');
end
+ elseif islogical(inp)
+ if inp==true
+ bool = 'on';
+ end
end
end
diff --git a/source/input2bitfield.m b/source/input2bitfield.m
new file mode 100644
index 0000000000000000000000000000000000000000..cbc3d9e67dfbdd359bef99d856e52e2218db8e6f
--- /dev/null
+++ b/source/input2bitfield.m
@@ -0,0 +1,8 @@
+function bitfield = input2bitfield(varargin)
+% Converts motor-inputport-number(s) to motor-bitfield.
+ if nargin==1
+ bitfield = port2bitfield(input2port(varargin{1}));
+ elseif nargin==2
+ bitfield = port2bitfield(input2port(varargin{1}), input2port(varargin{2}));
+ end
+end
diff --git a/source/input2port.m b/source/input2port.m
index 98bc1b230eec9984307e62bb8c74659e1c8ab3fe..4765c3add7bc160ab7c41ede5266defe74b7ee53 100644
--- a/source/input2port.m
+++ b/source/input2port.m
@@ -1,4 +1,4 @@
function port = input2port(input)
-% Converts motorInput-enum to motorPort-enum.
- port = MotorPort(input-16);
+% Converts a motor-inputport-number to motor-port-number.
+ port = uint8(input)-16;
end
\ No newline at end of file
diff --git a/source/isBool.m b/source/isBool.m
index b7cbb7106c7c2a0eae7744387b2c9f68895536db..c1711a916d6a6a9f9ebe71b019ada707b9d20175 100644
--- a/source/isBool.m
+++ b/source/isBool.m
@@ -1,15 +1,11 @@
function isValid = isBool(inp)
% Returns whether given boolean is valid or not.
- isValid = 0;
if ischar(inp)
- if strcmpi(inp, 'on') || strcmpi(inp, 'true') ...
- || strcmpi(inp, 'off') || strcmpi(inp, 'false')
- isValid = 1;
- end
+ isValid = strcmpi(inp, 'on') || strcmpi(inp, 'off');
elseif isnumeric(inp)
- if inp==1 || inp==0
- isValid = 1;
- end
+ isValid = inp==1 || inp==0;
+ else
+ isValid = islogical(inp);
end
end
diff --git a/source/isBrickValid.m b/source/isCommInterfaceValid.m
similarity index 54%
rename from source/isBrickValid.m
rename to source/isCommInterfaceValid.m
index 24447ec6f346555416f553e895b6f00c334f8afd..77d7dc2195b732f57c11cbee25378b75f98ffb0f 100644
--- a/source/isBrickValid.m
+++ b/source/isCommInterfaceValid.m
@@ -1,10 +1,10 @@
-function isValid = isBrickValid(testBrick)
+function isValid = isCommInterfaceValid(comm)
% Returns whether given brick object is valid or not.
isValid = 0;
- if ~isempty(testBrick)
+ if ~isempty(comm)
% The second case (after the '||') is allowed as a default value (think of it as a nullptr).
- if (isa(testBrick, 'Brick') && testBrick.isvalid) || ...
- (isnumeric(testBrick) && testBrick==0)
+ if (isa(comm, 'CommunicationInterface') && comm.isvalid) || ...
+ (isnumeric(comm) && comm==0)
isValid = 1;
end
end
diff --git a/source/isDeviceValid.m b/source/isDeviceValid.m
new file mode 100644
index 0000000000000000000000000000000000000000..a0bcc933a8b351529de553c8ee818dfe9edd58b2
--- /dev/null
+++ b/source/isDeviceValid.m
@@ -0,0 +1,13 @@
+function isValid = isDeviceValid(deviceType, device)
+% Returns whether given device object is valid or not.
+ isValid = 0;
+ try
+ if ~isempty(device)
+ if isa(device, deviceType) && device.isvalid
+ isValid = 1;
+ end
+ end
+ catch ME
+ % Ignore
+ end
+end
diff --git a/source/isModeValid.m b/source/isModeValid.m
index ef88e572ea6a8519b795b3f424caacc014f28cf6..debc72a9bd4a9687e418b51490f00f387e743b6e 100644
--- a/source/isModeValid.m
+++ b/source/isModeValid.m
@@ -1,64 +1,66 @@
function isValid = isModeValid(mode, type)
% Returns whether given mode is a valid mode in given type.
- isValid = 1;
+ isValid = true;
- if strcmp(class(mode), 'DeviceMode.Error')
+ if strcmp(class(mode), 'DeviceMode.Default')
return;
end
switch type
case DeviceType.NXTTouch
if ~strcmp(class(mode), 'DeviceMode.NXTTouch')
- isValid = 0;
+ isValid = false;
end
case DeviceType.NXTLight
if ~strcmp(class(mode), 'DeviceMode.NXTLight')
- isValid = 0;
+ isValid = false;
end
case DeviceType.NXTSound
if ~strcmp(class(mode), 'DeviceMode.NXTSound')
- isValid = 0;
+ isValid = false;
end
case DeviceType.NXTColor
if ~strcmp(class(mode), 'DeviceMode.NXTColor')
- isValid = 0;
+ isValid = false;
end
case DeviceType.NXTUltraSonic
if ~strcmp(class(mode), 'DeviceMode.NXTUltraSonic')
- isValid = 0;
+ isValid = false;
end
case DeviceType.NXTTemperature
if ~strcmp(class(mode), 'DeviceMode.NXTTemperature')
- isValid = 0;
+ isValid = false;
end
case DeviceType.LargeMotor
if ~strcmp(class(mode), 'DeviceMode.Motor')
- isValid = 0;
+ isValid = false;
end
case DeviceType.MediumMotor
if ~strcmp(class(mode), 'DeviceMode.Motor')
- isValid = 0;
+ isValid = false;
end
case DeviceType.Touch
if ~strcmp(class(mode), 'DeviceMode.Touch')
- isValid = 0;
+ isValid = false;
end
case DeviceType.Color
if ~strcmp(class(mode), 'DeviceMode.Color')
- isValid = 0;
+ isValid = false;
end
case DeviceType.UltraSonic
if ~strcmp(class(mode), 'DeviceMode.UltraSonic')
- isValid = 0;
+ isValid = false;
end
case DeviceType.Gyro
if ~strcmp(class(mode), 'DeviceMode.Gyro')
- isValid = 0;
+ isValid = false;
end
case DeviceType.InfraRed
if ~strcmp(class(mode), 'DeviceMode.InfraRed')
- isValid = 0;
+ isValid = false;
end
+ otherwise
+ isValid = false;
end
end
diff --git a/source/isMotorValid.m b/source/isMotorValid.m
deleted file mode 100644
index a6451077e2014ab9b13ee6397b8869252b1ecbc3..0000000000000000000000000000000000000000
--- a/source/isMotorValid.m
+++ /dev/null
@@ -1,9 +0,0 @@
-function isValid = isMotorValid(motor)
-% Returns whether given motor object is valid or not.
- isValid = 0;
- if ~isempty(motor)
- if isa(motor, 'Motor') && motor.isvalid
- isValid = 1;
- end
- end
-end
diff --git a/source/isPortEnumValid.m b/source/isPortEnumValid.m
new file mode 100644
index 0000000000000000000000000000000000000000..009c995e2d6c120fa48bb4434f67f0c57b7fe9db
--- /dev/null
+++ b/source/isPortEnumValid.m
@@ -0,0 +1,27 @@
+function isValid = isPortEnumValid(device, port)
+% Returns whether given port-number is valid for given device
+ isValid = false;
+
+ if ~ischar(device)
+ error(['isPortValid: First argument has to be a string (''Sensor'', ',...
+ '''Motor'' or ''SyncMotor'')']);
+ end
+
+ try
+ if strcmpi(device, 'Motor')
+ if ~isa(port, 'MotorBitfield')
+ MotorBitfield(port);
+ end
+ isValid = true; % Otherwise, an error would have already been thrown
+ elseif strcmpi(device, 'Sensor')
+ if ~isa(port, 'SensorPort')
+ SensorPort(port);
+ end
+ isValid = true; % Otherwise, an error would have already been thrown
+ elseif strcmpi(device, 'SyncMotor')
+ isValid = isSyncedBitfield(port);
+ end
+ catch ME
+ % Ignore
+ end
+end
diff --git a/source/isPortStrValid.m b/source/isPortStrValid.m
new file mode 100644
index 0000000000000000000000000000000000000000..4b2398bae51c87a99b612c9a7b41d8e55525c411
--- /dev/null
+++ b/source/isPortStrValid.m
@@ -0,0 +1,19 @@
+function isValid = isPortStrValid(device, port)
+% Returns whether given port-number is valid for given device
+ if strcmpi(device, 'Motor')
+ validPorts = {'A', 'B', 'C', 'D'};
+ elseif strcmpi(device, 'Sensor')
+ validPorts = {'1', '2', '3', '4'};
+ elseif strcmpi(device, 'SyncMotor')
+ validPorts = {'AB', 'AC', 'AD', 'BA', 'BC', 'BD', ...
+ 'CA', 'CB', 'CD', 'DA', 'DB', 'DC'};
+ else
+ error(['isPortValid: First argument has to be either ''Sensor'', ',...
+ '''Motor'' or ''SyncMotor''']);
+ end
+
+ if ischar(port)
+ isValid = ismember(port, validPorts);
+ end
+end
+
diff --git a/source/isPortValid.m b/source/isPortValid.m
deleted file mode 100644
index b2050fe09d265ae4bf7cf994be2ad454b415ef23..0000000000000000000000000000000000000000
--- a/source/isPortValid.m
+++ /dev/null
@@ -1,36 +0,0 @@
-function isValid = isPortValid(device, port)
-% Returns whether given port-string is valid or not.
- isValid = 0;
-
- if ~ischar(device)
- error(['isPortValid: First argument has to be a string (''Sensor'', ',...
- '''Motor'' or ''SyncMotor'')']);
- end
-
- if strcmpi(device, 'Motor')
- validPorts = {'A', 'B', 'C', 'D'};
- elseif strcmpi(device, 'Sensor')
- validPorts = {'1', '2', '3', '4'};
- elseif strcmpi(device, 'SyncMotor')
- validPorts = {'AB', 'AC', 'AD', 'BA', 'BC', 'BD', ...
- 'CA', 'CB', 'CD', 'DA', 'DB', 'DC'};
- else
- error(['isPortValid: First argument has to be either ''Sensor'', ',...
- '''Motor'' or ''SyncMotor''']);
- end
-
- % Note: Both port2str() and validatestring() generate errors if the input
- % argument is 'wrong'. This method here isn't supposed to do this,
- % it's only supposed to return whether given port is valid or not.
- try
- if ~ischar(port)
- port = port2str(device, port);
- end
-
- if any(validatestring(port, validPorts))
- isValid = 1;
- end
- catch
- return;
- end
-end
diff --git a/source/isSensorValid.m b/source/isSensorValid.m
deleted file mode 100644
index fb01ec7450066457e9698d622f0f1dbedccf00b4..0000000000000000000000000000000000000000
--- a/source/isSensorValid.m
+++ /dev/null
@@ -1,9 +0,0 @@
-function isValid = isSensorValid(sensor)
-% Returns whether given sensor object is valid or not.
- isValid = 0;
- if ~isempty(sensor)
- if isa(sensor, 'Sensor') && sensor.isvalid
- isValid = 1;
- end
- end
-end
diff --git a/source/isSyncedBitfield.m b/source/isSyncedBitfield.m
new file mode 100644
index 0000000000000000000000000000000000000000..08ae85cd8e4c6d92a420b0e3f4591125b084d0fd
--- /dev/null
+++ b/source/isSyncedBitfield.m
@@ -0,0 +1,21 @@
+function [isSynced, bit1, bit2] = isSyncedBitfield(bitfield)
+% A SyncMotor-port is the sum of the two ports to sync
+% -> As motor ports are represented by bitfields, check how many bits are set (2
+% bits = 2 ports).
+% -> Just checking 'port' against allowed values would have been too easy :)
+ bit1 = 0; bit2 = 0;
+
+ setBits = [];
+ for i=1:4
+ if bitget(bitfield, i) == 1
+ setBits = [setBits, i];
+ end
+ end
+
+ isSynced = (bitfield<=15)&&(length(setBits)==2);
+ if isSynced
+ bit1 = setBits(1);
+ bit2 = setBits(2);
+ end
+end
+
diff --git a/source/port2bitfield.m b/source/port2bitfield.m
index b4e5de428fc1bd46ea7a41bd3c9a0745c49afca3..9f8d2c7400167d075ca76bca03ef29a91f2d94b6 100644
--- a/source/port2bitfield.m
+++ b/source/port2bitfield.m
@@ -1,8 +1,8 @@
function bitfield = port2bitfield(varargin)
-% Converts a motorPort-enum to motorBitfield-enum.
+% Converts motor-port-number(s) to motor-bitfield.
if nargin==1
- bitfield = MotorBitfield(2 ^ varargin{1});
+ bitfield = uint8(2 ^ varargin{1});
elseif nargin==2
- bitfield = MotorBitfield(2 ^ (varargin{1}+varargin{2}));
+ bitfield = uint8(2 ^varargin{1}+2^varargin{2});
end
end
diff --git a/source/port2input.m b/source/port2input.m
index cd3bbadf8fdac156638db5df37d4df4e40a95a7d..58c3076dcfbcf7cf8d6c0879022fadba9bc3fbbc 100644
--- a/source/port2input.m
+++ b/source/port2input.m
@@ -1,4 +1,4 @@
function input = port2input(port)
-% Converts a motorPort-enum to motorInput-enum.
- input = MotorInput(port+16);
+% Converts a motor-port-number to motor-inputport-number.
+ input = uint8(port)+16;
end
\ No newline at end of file
diff --git a/source/port2str.m b/source/port2str.m
index 696b990dac243c314e87182cc9bc481d2298d1af..048613d4287fe11a98eb2065fa914883e91dd814 100644
--- a/source/port2str.m
+++ b/source/port2str.m
@@ -1,72 +1,82 @@
-function port = port2str(device, inp)
+function portStr = port2str(varargin)
% Converts a port-enum to corresponding-string.
- if ~ischar(device)
- error(['port2str: First argument has to be a string (''Sensor'', ',...
- '''Motor'' or ''SyncMotor'')']);
+ p = inputParser();
+
+ validDevices = {'Motor', 'Sensor', 'SyncMotor'};
+ validPortTypes = {'Bitfield', 'PortNo', 'InputPortNo'};
+ checkDevice = @(x) ismember(x, validDevices);
+ checkPortType = @(x) ismember(x, validPortTypes);
+
+ p.addRequired('device', checkDevice);
+ p.addRequired('port');
+ p.addOptional('portType', 'Bitfield', checkPortType);
+
+ p.parse(varargin{:});
+
+ device = p.Results.device;
+ port = p.Results.port;
+ portType = p.Results.portType;
+
+ if ~isPortEnumValid(device, port)
+ error('port2str: Given parameter is not a valid port-enum');
end
if strcmpi(device, 'Motor')
- if ~ischar(inp)
- if inp == MotorBitfield.MotorA || inp == MotorPort.MotorA || ...
- inp == MotorInput.MotorA
- port = 'A';
- elseif inp == MotorBitfield.MotorB || inp == MotorPort.MotorB || ...
- inp == MotorInput.MotorB
- port = 'B';
- elseif inp == MotorBitfield.MotorC || inp == MotorPort.MotorC || ...
- inp == MotorInput.MotorC
- port = 'C';
- elseif inp == MotorBitfield.MotorD || inp == MotorPort.MotorD || ...
- inp == MotorInput.MotorD
- port = 'D';
- else
- error('port2str: Given parameter is not a valid motor port.' );
+ if strcmpi(portType, 'Bitfield')
+ if port == MotorBitfield.MotorA
+ portStr = 'A';
+ elseif port == MotorBitfield.MotorB
+ portStr = 'B';
+ elseif port == MotorBitfield.MotorC
+ portStr = 'C';
+ elseif port == MotorBitfield.MotorD
+ portStr = 'D';
+ end
+ elseif strcmpi(portType, 'PortNo')
+ if port == MotorPort.MotorA
+ portStr = 'A';
+ elseif port == MotorPort.MotorB
+ portStr = 'B';
+ elseif port == MotorPort.MotorC
+ portStr = 'C';
+ elseif port == MotorPort.MotorD
+ portStr = 'D';
+ end
+ elseif strcmpi(portType, 'InputPortNo')
+ if port == MotorInput.MotorA
+ portStr = 'A';
+ elseif port == MotorInput.MotorB
+ portStr = 'B';
+ elseif port == MotorInput.MotorC
+ portStr = 'C';
+ elseif port == MotorInput.MotorD
+ portStr = 'D';
end
- else
- warning('port2str: Given parameter already is a string.');
- port = inp;
end
elseif strcmpi(device, 'Sensor')
- if ~ischar(inp)
- if inp == SensorPort.Sensor1
- port = '1';
- elseif inp == SensorPort.Sensor2
- port = '2';
- elseif inp == SensorPort.Sensor3
- port = '3';
- elseif inp == SensorPort.Sensor4
- port = '4';
- else
- error('port2str: Given parameter is not a valid sensor port.' );
- end
- else
- warning('port2str: Given parameter already is a string.');
- port = inp;
+ if port == SensorPort.Sensor1
+ portStr = '1';
+ elseif port == SensorPort.Sensor2
+ portStr = '2';
+ elseif port == SensorPort.Sensor3
+ portStr = '3';
+ elseif port == SensorPort.Sensor4
+ portStr = '4';
end
elseif strcmpi(device, 'SyncMotor')
- if ~ischar(inp)
- switch inp
- case MotorBitfield.MotorA+MotorBitfield.MotorB
- port = 'AB';
- case MotorBitfield.MotorA+MotorBitfield.MotorC
- port = 'AC';
- case MotorBitfield.MotorA+MotorBitfield.MotorD
- port = 'AD';
- case MotorBitfield.MotorB+MotorBitfield.MotorC
- port = 'BC';
- case MotorBitfield.MotorB+MotorBitfield.MotorD
- port = 'BD';
- case MotorBitfield.MotorC+MotorBitfield.MotorD
- port = 'CD';
- otherwise
- error('port2str: Given parameter is not a valid motor port.' );
- end
- else
- warning('port2str: Given parameter already is a string.');
- port = inp;
+ switch port
+ case MotorBitfield.MotorA+MotorBitfield.MotorB
+ portStr = 'AB';
+ case MotorBitfield.MotorA+MotorBitfield.MotorC
+ portStr = 'AC';
+ case MotorBitfield.MotorA+MotorBitfield.MotorD
+ portStr = 'AD';
+ case MotorBitfield.MotorB+MotorBitfield.MotorC
+ portStr = 'BC';
+ case MotorBitfield.MotorB+MotorBitfield.MotorD
+ portStr = 'BD';
+ case MotorBitfield.MotorC+MotorBitfield.MotorD
+ portStr = 'CD';
end
- else
- error(['port2str: First argument has to be either ''Sensor'', ',...
- '''Motor'' or ''SyncMotor''']);
end
end
\ No newline at end of file
diff --git a/source/str2PortParam.m b/source/str2PortParam.m
index 75fdb6d3eb5708f8e7350da4b14aad3a68b3a4e0..0f2a139b78b6e717f3fb9cadb7c7af676ed21163 100644
--- a/source/str2PortParam.m
+++ b/source/str2PortParam.m
@@ -34,109 +34,109 @@ function varargout = str2PortParam(device, port)
if strcmpi(device, 'Motor')
if strcmpi(port, 'A')
- varargout{1} = uint8(MotorBitfield.MotorA);
- varargout{2} = uint8(MotorPort.MotorA);
- varargout{3} = uint8(MotorInput.MotorA);
+ varargout{1} = MotorBitfield.MotorA;
+ varargout{2} = MotorPort.MotorA;
+ varargout{3} = MotorInput.MotorA;
elseif strcmpi(port, 'B')
- varargout{1} = uint8(MotorBitfield.MotorB);
- varargout{2} = uint8(MotorPort.MotorB);
- varargout{3} = uint8(MotorInput.MotorB);
+ varargout{1} = MotorBitfield.MotorB;
+ varargout{2} = MotorPort.MotorB;
+ varargout{3} = MotorInput.MotorB;
elseif strcmpi(port, 'C')
- varargout{1} = uint8(MotorBitfield.MotorC);
- varargout{2} = uint8(MotorPort.MotorC);
- varargout{3} = uint8(MotorInput.MotorC);
+ varargout{1} = MotorBitfield.MotorC;
+ varargout{2} = MotorPort.MotorC;
+ varargout{3} = MotorInput.MotorC;
elseif strcmpi(port, 'D')
- varargout{1} = uint8(MotorBitfield.MotorD);
- varargout{2} = uint8(MotorPort.MotorD);
- varargout{3} = uint8(MotorInput.MotorD);
+ varargout{1} = MotorBitfield.MotorD;
+ varargout{2} = MotorPort.MotorD;
+ varargout{3} = MotorInput.MotorD;
else
error('str2PortParam: Given port is not a valid motor port.');
end
elseif strcmpi(device, 'Sensor')
if strcmpi(port, '1')
- varargout{1} = uint8(SensorPort.Sensor1);
+ varargout{1} = SensorPort.Sensor1;
elseif strcmpi(port, '2')
- varargout{1} = uint8(SensorPort.Sensor2);
+ varargout{1} = SensorPort.Sensor2;
elseif strcmpi(port, '3')
- varargout{1} = uint8(SensorPort.Sensor3);
+ varargout{1} = SensorPort.Sensor3;
elseif strcmpi(port, '4')
- varargout{1} = uint8(SensorPort.Sensor4);
+ varargout{1} = SensorPort.Sensor4;
else
error('str2PortParam: Given parameter not a valid sensor port.');
end
elseif strcmpi(device, 'SyncMotor')
if strcmpi(port,'AB')
varargout{1} = MotorBitfield.MotorA+MotorBitfield.MotorB;
- varargout{2} = uint8(MotorPort.MotorA);
- varargout{3} = uint8(MotorInput.MotorA);
- varargout{4} = uint8(MotorPort.MotorB);
- varargout{5} = uint8(MotorInput.MotorB);
+ varargout{2} = MotorPort.MotorA;
+ varargout{3} = MotorInput.MotorA;
+ varargout{4} = MotorPort.MotorB;
+ varargout{5} = MotorInput.MotorB;
elseif strcmpi(port,'AC')
varargout{1} = MotorBitfield.MotorA+MotorBitfield.MotorC;
- varargout{2} = uint8(MotorPort.MotorA);
- varargout{3} = uint8(MotorInput.MotorA);
- varargout{4} = uint8(MotorPort.MotorC);
- varargout{5} = uint8(MotorInput.MotorC);
+ varargout{2} = MotorPort.MotorA;
+ varargout{3} = MotorInput.MotorA;
+ varargout{4} = MotorPort.MotorC;
+ varargout{5} = MotorInput.MotorC;
elseif strcmpi(port,'AD')
varargout{1} = MotorBitfield.MotorA+MotorBitfield.MotorD;
- varargout{2} = uint8(MotorPort.MotorA);
- varargout{3} = uint8(MotorInput.MotorA);
- varargout{4} = uint8(MotorPort.MotorD);
- varargout{5} = uint8(MotorInput.MotorD);
+ varargout{2} = MotorPort.MotorA;
+ varargout{3} = MotorInput.MotorA;
+ varargout{4} = MotorPort.MotorD;
+ varargout{5} = MotorInput.MotorD;
elseif strcmpi(port,'BA')
varargout{1} = MotorBitfield.MotorB+MotorBitfield.MotorA;
- varargout{2} = uint8(MotorPort.MotorB);
- varargout{3} = uint8(MotorInput.MotorB);
- varargout{4} = uint8(MotorPort.MotorA);
- varargout{5} = uint8(MotorInput.MotorA);
+ varargout{2} = MotorPort.MotorB;
+ varargout{3} = MotorInput.MotorB;
+ varargout{4} = MotorPort.MotorA;
+ varargout{5} = MotorInput.MotorA;
elseif strcmpi(port,'BC')
varargout{1} = MotorBitfield.MotorB+MotorBitfield.MotorC;
- varargout{2} = uint8(MotorPort.MotorB);
- varargout{3} = uint8(MotorInput.MotorB);
- varargout{4} = uint8(MotorPort.MotorC);
- varargout{5} = uint8(MotorInput.MotorC);
+ varargout{2} = MotorPort.MotorB;
+ varargout{3} = MotorInput.MotorB;
+ varargout{4} = MotorPort.MotorC;
+ varargout{5} = MotorInput.MotorC;
elseif strcmpi(port,'BD')
varargout{1} = MotorBitfield.MotorB+MotorBitfield.MotorD;
- varargout{2} = uint8(MotorPort.MotorB);
- varargout{3} = uint8(MotorInput.MotorB);
- varargout{4} = uint8(MotorPort.MotorD);
- varargout{5} = uint8(MotorInput.MotorD);
+ varargout{2} = MotorPort.MotorB;
+ varargout{3} = MotorInput.MotorB;
+ varargout{4} = MotorPort.MotorD;
+ varargout{5} = MotorInput.MotorD;
elseif strcmpi(port,'CA')
varargout{1} = MotorBitfield.MotorC+MotorBitfield.MotorA;
- varargout{2} = uint8(MotorPort.MotorC);
- varargout{3} = uint8(MotorInput.MotorC);
- varargout{4} = uint8(MotorPort.MotorA);
- varargout{5} = uint8(MotorInput.MotorA);
+ varargout{2} = MotorPort.MotorC;
+ varargout{3} = MotorInput.MotorC;
+ varargout{4} = MotorPort.MotorA;
+ varargout{5} = MotorInput.MotorA;
elseif strcmpi(port,'CB')
varargout{1} = MotorBitfield.MotorC+MotorBitfield.MotorB;
- varargout{2} = uint8(MotorPort.MotorC);
- varargout{3} = uint8(MotorInput.MotorC);
- varargout{4} = uint8(MotorPort.MotorB);
- varargout{5} = uint8(MotorInput.MotorB);
+ varargout{2} = MotorPort.MotorC;
+ varargout{3} = MotorInput.MotorC;
+ varargout{4} = MotorPort.MotorB;
+ varargout{5} = MotorInput.MotorB;
elseif strcmpi(port,'CD')
varargout{1} = MotorBitfield.MotorC+MotorBitfield.MotorD;
- varargout{2} = uint8(MotorPort.MotorC);
- varargout{3} = uint8(MotorInput.MotorC);
- varargout{4} = uint8(MotorPort.MotorD);
- varargout{5} = uint8(MotorInput.MotorD);
+ varargout{2} = MotorPort.MotorC;
+ varargout{3} = MotorInput.MotorC;
+ varargout{4} = MotorPort.MotorD;
+ varargout{5} = MotorInput.MotorD;
elseif strcmpi(port,'DA')
varargout{1} = MotorBitfield.MotorD+MotorBitfield.MotorA;
- varargout{2} = uint8(MotorPort.MotorD);
- varargout{3} = uint8(MotorInput.MotorD);
- varargout{4} = uint8(MotorPort.MotorA);
- varargout{5} = uint8(MotorInput.MotorA);
+ varargout{2} = MotorPort.MotorD;
+ varargout{3} = MotorInput.MotorD;
+ varargout{4} = MotorPort.MotorA;
+ varargout{5} = MotorInput.MotorA;
elseif strcmpi(port,'DB')
varargout{1} = MotorBitfield.MotorD+MotorBitfield.MotorB;
- varargout{2} = uint8(MotorPort.MotorD);
- varargout{3} = uint8(MotorInput.MotorD);
- varargout{4} = uint8(MotorPort.MotorB);
- varargout{5} = uint8(MotorInput.MotorB);
+ varargout{2} = MotorPort.MotorD;
+ varargout{3} = MotorInput.MotorD;
+ varargout{4} = MotorPort.MotorB;
+ varargout{5} = MotorInput.MotorB;
elseif strcmpi(port,'DC')
varargout{1} = MotorBitfield.MotorD+MotorBitfield.MotorC;
- varargout{2} = uint8(MotorPort.MotorD);
- varargout{3} = uint8(MotorInput.MotorD);
- varargout{4} = uint8(MotorPort.MotorC);
- varargout{5} = uint8(MotorInput.MotorC);
+ varargout{2} = MotorPort.MotorD;
+ varargout{3} = MotorInput.MotorD;
+ varargout{4} = MotorPort.MotorC;
+ varargout{5} = MotorInput.MotorC;
else
error('str2PortParam: Given port is not a valid sync motor port.');
end
diff --git a/source/str2bool.m b/source/str2bool.m
index 0b88252174b60c6a3d5898713acc55e473354077..cc656222399c3bb8957f7aa11119e2919f7baa7e 100644
--- a/source/str2bool.m
+++ b/source/str2bool.m
@@ -3,15 +3,12 @@ function bool = str2bool(inp)
bool = 0;
if ischar(inp)
- if strcmpi(inp, 'on') || strcmpi(inp, 'true')
+ if strcmpi(inp, 'on')
bool = 1;
- elseif ~strcmpi(inp, 'off') && ~strcmpi(inp, 'false')
+ elseif ~strcmpi(inp, 'off')
error('str2bool: Given parameter is not a valid string.');
end
- elseif isnumeric(inp)
- % warning('str2bool: Given parameter already is a numeric. Returning...');
- if bool==0 || bool==1
- bool = inp;
- end
+ elseif isnumeric(inp) || islogical(inp)
+ bool = inp;
end
end