diff --git a/docs/Makefile b/docs/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..e509cd2e7b4dd2c6ece0b183a4755e03bf3e83f4
--- /dev/null
+++ b/docs/Makefile
@@ -0,0 +1,225 @@
+# Makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS =
+SPHINXBUILD = sphinx-build
+PAPER =
+BUILDDIR = _build
+
+# Internal variables.
+PAPEROPT_a4 = -D latex_paper_size=a4
+PAPEROPT_letter = -D latex_paper_size=letter
+ALLSPHINXOPTS = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
+# the i18n builder cannot share the environment and doctrees with the others
+I18NSPHINXOPTS = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) .
+
+.PHONY: help
+help:
+ @echo "Please use \`make <target>' where <target> is one of"
+ @echo " html to make standalone HTML files"
+ @echo " dirhtml to make HTML files named index.html in directories"
+ @echo " singlehtml to make a single large HTML file"
+ @echo " pickle to make pickle files"
+ @echo " json to make JSON files"
+ @echo " htmlhelp to make HTML files and a HTML help project"
+ @echo " qthelp to make HTML files and a qthelp project"
+ @echo " applehelp to make an Apple Help Book"
+ @echo " devhelp to make HTML files and a Devhelp project"
+ @echo " epub to make an epub"
+ @echo " epub3 to make an epub3"
+ @echo " latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter"
+ @echo " latexpdf to make LaTeX files and run them through pdflatex"
+ @echo " latexpdfja to make LaTeX files and run them through platex/dvipdfmx"
+ @echo " text to make text files"
+ @echo " man to make manual pages"
+ @echo " texinfo to make Texinfo files"
+ @echo " info to make Texinfo files and run them through makeinfo"
+ @echo " gettext to make PO message catalogs"
+ @echo " changes to make an overview of all changed/added/deprecated items"
+ @echo " xml to make Docutils-native XML files"
+ @echo " pseudoxml to make pseudoxml-XML files for display purposes"
+ @echo " linkcheck to check all external links for integrity"
+ @echo " doctest to run all doctests embedded in the documentation (if enabled)"
+ @echo " coverage to run coverage check of the documentation (if enabled)"
+ @echo " dummy to check syntax errors of document sources"
+
+.PHONY: clean
+clean:
+ rm -rf $(BUILDDIR)/*
+
+.PHONY: html
+html:
+ $(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
+ @echo
+ @echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
+
+.PHONY: dirhtml
+dirhtml:
+ $(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml
+ @echo
+ @echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml."
+
+.PHONY: singlehtml
+singlehtml:
+ $(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml
+ @echo
+ @echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml."
+
+.PHONY: pickle
+pickle:
+ $(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle
+ @echo
+ @echo "Build finished; now you can process the pickle files."
+
+.PHONY: json
+json:
+ $(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json
+ @echo
+ @echo "Build finished; now you can process the JSON files."
+
+.PHONY: htmlhelp
+htmlhelp:
+ $(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp
+ @echo
+ @echo "Build finished; now you can run HTML Help Workshop with the" \
+ ".hhp project file in $(BUILDDIR)/htmlhelp."
+
+.PHONY: qthelp
+qthelp:
+ $(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp
+ @echo
+ @echo "Build finished; now you can run "qcollectiongenerator" with the" \
+ ".qhcp project file in $(BUILDDIR)/qthelp, like this:"
+ @echo "# qcollectiongenerator $(BUILDDIR)/qthelp/MindstormsEV3Toolbox.qhcp"
+ @echo "To view the help file:"
+ @echo "# assistant -collectionFile $(BUILDDIR)/qthelp/MindstormsEV3Toolbox.qhc"
+
+.PHONY: applehelp
+applehelp:
+ $(SPHINXBUILD) -b applehelp $(ALLSPHINXOPTS) $(BUILDDIR)/applehelp
+ @echo
+ @echo "Build finished. The help book is in $(BUILDDIR)/applehelp."
+ @echo "N.B. You won't be able to view it unless you put it in" \
+ "~/Library/Documentation/Help or install it in your application" \
+ "bundle."
+
+.PHONY: devhelp
+devhelp:
+ $(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp
+ @echo
+ @echo "Build finished."
+ @echo "To view the help file:"
+ @echo "# mkdir -p $$HOME/.local/share/devhelp/MindstormsEV3Toolbox"
+ @echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/MindstormsEV3Toolbox"
+ @echo "# devhelp"
+
+.PHONY: epub
+epub:
+ $(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub
+ @echo
+ @echo "Build finished. The epub file is in $(BUILDDIR)/epub."
+
+.PHONY: epub3
+epub3:
+ $(SPHINXBUILD) -b epub3 $(ALLSPHINXOPTS) $(BUILDDIR)/epub3
+ @echo
+ @echo "Build finished. The epub3 file is in $(BUILDDIR)/epub3."
+
+.PHONY: latex
+latex:
+ $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+ @echo
+ @echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex."
+ @echo "Run \`make' in that directory to run these through (pdf)latex" \
+ "(use \`make latexpdf' here to do that automatically)."
+
+.PHONY: latexpdf
+latexpdf:
+ $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+ @echo "Running LaTeX files through pdflatex..."
+ $(MAKE) -C $(BUILDDIR)/latex all-pdf
+ @echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
+
+.PHONY: latexpdfja
+latexpdfja:
+ $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
+ @echo "Running LaTeX files through platex and dvipdfmx..."
+ $(MAKE) -C $(BUILDDIR)/latex all-pdf-ja
+ @echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
+
+.PHONY: text
+text:
+ $(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text
+ @echo
+ @echo "Build finished. The text files are in $(BUILDDIR)/text."
+
+.PHONY: man
+man:
+ $(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man
+ @echo
+ @echo "Build finished. The manual pages are in $(BUILDDIR)/man."
+
+.PHONY: texinfo
+texinfo:
+ $(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
+ @echo
+ @echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo."
+ @echo "Run \`make' in that directory to run these through makeinfo" \
+ "(use \`make info' here to do that automatically)."
+
+.PHONY: info
+info:
+ $(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
+ @echo "Running Texinfo files through makeinfo..."
+ make -C $(BUILDDIR)/texinfo info
+ @echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo."
+
+.PHONY: gettext
+gettext:
+ $(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale
+ @echo
+ @echo "Build finished. The message catalogs are in $(BUILDDIR)/locale."
+
+.PHONY: changes
+changes:
+ $(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes
+ @echo
+ @echo "The overview file is in $(BUILDDIR)/changes."
+
+.PHONY: linkcheck
+linkcheck:
+ $(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck
+ @echo
+ @echo "Link check complete; look for any errors in the above output " \
+ "or in $(BUILDDIR)/linkcheck/output.txt."
+
+.PHONY: doctest
+doctest:
+ $(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest
+ @echo "Testing of doctests in the sources finished, look at the " \
+ "results in $(BUILDDIR)/doctest/output.txt."
+
+.PHONY: coverage
+coverage:
+ $(SPHINXBUILD) -b coverage $(ALLSPHINXOPTS) $(BUILDDIR)/coverage
+ @echo "Testing of coverage in the sources finished, look at the " \
+ "results in $(BUILDDIR)/coverage/python.txt."
+
+.PHONY: xml
+xml:
+ $(SPHINXBUILD) -b xml $(ALLSPHINXOPTS) $(BUILDDIR)/xml
+ @echo
+ @echo "Build finished. The XML files are in $(BUILDDIR)/xml."
+
+.PHONY: pseudoxml
+pseudoxml:
+ $(SPHINXBUILD) -b pseudoxml $(ALLSPHINXOPTS) $(BUILDDIR)/pseudoxml
+ @echo
+ @echo "Build finished. The pseudo-XML files are in $(BUILDDIR)/pseudoxml."
+
+.PHONY: dummy
+dummy:
+ $(SPHINXBUILD) -b dummy $(ALLSPHINXOPTS) $(BUILDDIR)/dummy
+ @echo
+ @echo "Build finished. Dummy builder generates no files."
diff --git a/docs/conf.py b/docs/conf.py
new file mode 100644
index 0000000000000000000000000000000000000000..137ea71c75145bdb2eba031a75401c11e5096bae
--- /dev/null
+++ b/docs/conf.py
@@ -0,0 +1,368 @@
+# -*- coding: utf-8 -*-
+#
+# Mindstorms EV3 Toolbox documentation build configuration file, created by
+# sphinx-quickstart on Fri Nov 25 15:42:28 2016.
+#
+# This file is execfile()d with the current directory set to its
+# containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+sys.path.insert(0, os.path.abspath('.'))
+
+# -- General configuration ------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+ 'sphinx.ext.autodoc',
+ 'sphinx.ext.todo',
+ 'sphinx.ext.coverage',
+ 'sphinx.ext.imgmath',
+ 'sphinx.ext.ifconfig',
+ 'sphinxcontrib.matlab',
+ 'sphinx.ext.napoleon'
+]
+
+# MATLAB extension settings
+matlab_src_dir = os.path.abspath('..')
+primary_domain = 'mat'
+
+#autoclass_content = 'init'
+#autodoc_member_order = 'groupwise'
+#autodoc_default_flags = ''
+
+# Napoleon settings
+napoleon_google_docstring = True
+napoleon_numpy_docstring = False
+napoleon_include_init_with_doc = False
+napoleon_include_private_with_doc = False
+napoleon_include_special_with_doc = False
+napoleon_use_admonition_for_examples = False
+napoleon_use_admonition_for_notes = False
+napoleon_use_admonition_for_references = False
+napoleon_use_ivar = False
+napoleon_use_param = True
+napoleon_use_rtype = True
+napoleon_use_keyword = True
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The encoding of source files.
+#
+# source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = u'Mindstorms EV3 Toolbox'
+copyright = u'2016, Tim Stadtmann'
+author = u'Tim Stadtmann'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = u'v0.3'
+# The full version, including alpha/beta/rc tags.
+release = u'v0.3-rc.6'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#
+# today = ''
+#
+# Else, today_fmt is used as the format for a strftime call.
+#
+# today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This patterns also effect to html_static_path and html_extra_path
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store', '*hidapi*', '*.dll', '*.dylib', '*proto*', '*.h', '*.lib', '*.exp', 'ID.m', 'include', 'lib', 'private', '*.class', '*.java*', '*_*']
+
+# The reST default role (used for this markup: `text`) to use for all
+# documents.
+#
+# default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#
+# add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#
+# add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#
+# show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+# modindex_common_prefix = []
+
+# If true, keep warnings as "system message" paragraphs in the built documents.
+# keep_warnings = False
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = True
+
+
+# -- Options for HTML output ----------------------------------------------
+
+# The theme to use for HTML and HTML Help pages. See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'classic'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further. For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+# html_theme_path = []
+
+# The name for this set of Sphinx documents.
+# "<project> v<release> documentation" by default.
+#
+# html_title = u'Mindstorms EV3 Toolbox vv0.3-rc.6'
+
+# A shorter title for the navigation bar. Default is the same as html_title.
+#
+# html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#
+# html_logo = None
+
+# The name of an image file (relative to this directory) to use as a favicon of
+# the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#
+# html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# Add any extra paths that contain custom files (such as robots.txt or
+# .htaccess) here, relative to this directory. These files are copied
+# directly to the root of the documentation.
+#
+# html_extra_path = []
+
+# If not None, a 'Last updated on:' timestamp is inserted at every page
+# bottom, using the given strftime format.
+# The empty string is equivalent to '%b %d, %Y'.
+#
+# html_last_updated_fmt = None
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#
+# html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#
+# html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#
+# html_additional_pages = {}
+
+# If false, no module index is generated.
+#
+# html_domain_indices = True
+
+# If false, no index is generated.
+#
+# html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#
+# html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+#
+# html_show_sourcelink = True
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+#
+# html_show_sphinx = True
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+#
+# html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it. The value of this option must be the
+# base URL from which the finished HTML is served.
+#
+# html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+# html_file_suffix = None
+
+# Language to be used for generating the HTML full-text search index.
+# Sphinx supports the following languages:
+# 'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja'
+# 'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr', 'zh'
+#
+# html_search_language = 'en'
+
+# A dictionary with options for the search language support, empty by default.
+# 'ja' uses this config value.
+# 'zh' user can custom change `jieba` dictionary path.
+#
+# html_search_options = {'type': 'default'}
+
+# The name of a javascript file (relative to the configuration directory) that
+# implements a search results scorer. If empty, the default will be used.
+#
+# html_search_scorer = 'scorer.js'
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'MindstormsEV3Toolboxdoc'
+
+# -- Options for LaTeX output ---------------------------------------------
+
+latex_elements = {
+ # The paper size ('letterpaper' or 'a4paper').
+ #
+ # 'papersize': 'letterpaper',
+
+ # The font size ('10pt', '11pt' or '12pt').
+ #
+ # 'pointsize': '10pt',
+
+ # Additional stuff for the LaTeX preamble.
+ #
+ # 'preamble': '',
+
+ # Latex figure (float) alignment
+ #
+ # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+# author, documentclass [howto, manual, or own class]).
+latex_documents = [
+ (master_doc, 'MindstormsEV3Toolbox.tex', u'Mindstorms EV3 Toolbox Documentation',
+ u'Tim Stadtmann', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#
+# latex_logo = None
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#
+# latex_use_parts = False
+
+# If true, show page references after internal links.
+#
+# latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#
+# latex_show_urls = False
+
+# Documents to append as an appendix to all manuals.
+#
+# latex_appendices = []
+
+# It false, will not define \strong, \code, itleref, \crossref ... but only
+# \sphinxstrong, ..., \sphinxtitleref, ... To help avoid clash with user added
+# packages.
+#
+# latex_keep_old_macro_names = True
+
+# If false, no module index is generated.
+#
+# latex_domain_indices = True
+
+
+# -- Options for manual page output ---------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+ (master_doc, 'mindstormsev3toolbox', u'Mindstorms EV3 Toolbox Documentation',
+ [author], 1)
+]
+
+# If true, show URL addresses after external links.
+#
+# man_show_urls = False
+
+
+# -- Options for Texinfo output -------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+# dir menu entry, description, category)
+texinfo_documents = [
+ (master_doc, 'MindstormsEV3Toolbox', u'Mindstorms EV3 Toolbox Documentation',
+ author, 'MindstormsEV3Toolbox', 'One line description of project.',
+ 'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#
+# texinfo_appendices = []
+
+# If false, no module index is generated.
+#
+# texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+#
+# texinfo_show_urls = 'footnote'
+
+# If true, do not generate a @detailmenu in the "Top" node's menu.
+#
+# texinfo_no_detailmenu = False
diff --git a/docs/index.rst b/docs/index.rst
new file mode 100644
index 0000000000000000000000000000000000000000..6d136d5ab92a9071387c48d76d9f0ce1d061b699
--- /dev/null
+++ b/docs/index.rst
@@ -0,0 +1,23 @@
+.. source documentation master file, created by
+ sphinx-quickstart on Fri Nov 25 16:05:22 2016.
+ You can adapt this file completely to your liking, but it should at least
+ contain the root `toctree` directive.
+
+EV3-Toolbox for controlling Lego Mindstorms EV3 with MATLAB
+===========================================================
+
+Contents:
+
+.. toctree::
+ :maxdepth: 4
+
+ source
+
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
+
diff --git a/docs/make.bat b/docs/make.bat
new file mode 100644
index 0000000000000000000000000000000000000000..012a7de9be5e64a3e782f32a7e2c5b9be496c577
--- /dev/null
+++ b/docs/make.bat
@@ -0,0 +1,281 @@
+@ECHO OFF
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+ set SPHINXBUILD=sphinx-build
+)
+set BUILDDIR=_build
+set ALLSPHINXOPTS=-d %BUILDDIR%/doctrees %SPHINXOPTS% .
+set I18NSPHINXOPTS=%SPHINXOPTS% .
+if NOT "%PAPER%" == "" (
+ set ALLSPHINXOPTS=-D latex_paper_size=%PAPER% %ALLSPHINXOPTS%
+ set I18NSPHINXOPTS=-D latex_paper_size=%PAPER% %I18NSPHINXOPTS%
+)
+
+if "%1" == "" goto help
+
+if "%1" == "help" (
+ :help
+ echo.Please use `make ^<target^>` where ^<target^> is one of
+ echo. html to make standalone HTML files
+ echo. dirhtml to make HTML files named index.html in directories
+ echo. singlehtml to make a single large HTML file
+ echo. pickle to make pickle files
+ echo. json to make JSON files
+ echo. htmlhelp to make HTML files and a HTML help project
+ echo. qthelp to make HTML files and a qthelp project
+ echo. devhelp to make HTML files and a Devhelp project
+ echo. epub to make an epub
+ echo. epub3 to make an epub3
+ echo. latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter
+ echo. text to make text files
+ echo. man to make manual pages
+ echo. texinfo to make Texinfo files
+ echo. gettext to make PO message catalogs
+ echo. changes to make an overview over all changed/added/deprecated items
+ echo. xml to make Docutils-native XML files
+ echo. pseudoxml to make pseudoxml-XML files for display purposes
+ echo. linkcheck to check all external links for integrity
+ echo. doctest to run all doctests embedded in the documentation if enabled
+ echo. coverage to run coverage check of the documentation if enabled
+ echo. dummy to check syntax errors of document sources
+ goto end
+)
+
+if "%1" == "clean" (
+ for /d %%i in (%BUILDDIR%\*) do rmdir /q /s %%i
+ del /q /s %BUILDDIR%\*
+ goto end
+)
+
+
+REM Check if sphinx-build is available and fallback to Python version if any
+%SPHINXBUILD% 1>NUL 2>NUL
+if errorlevel 9009 goto sphinx_python
+goto sphinx_ok
+
+:sphinx_python
+
+set SPHINXBUILD=python -m sphinx.__init__
+%SPHINXBUILD% 2> nul
+if errorlevel 9009 (
+ echo.
+ echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+ echo.installed, then set the SPHINXBUILD environment variable to point
+ echo.to the full path of the 'sphinx-build' executable. Alternatively you
+ echo.may add the Sphinx directory to PATH.
+ echo.
+ echo.If you don't have Sphinx installed, grab it from
+ echo.http://sphinx-doc.org/
+ exit /b 1
+)
+
+:sphinx_ok
+
+
+if "%1" == "html" (
+ %SPHINXBUILD% -b html %ALLSPHINXOPTS% %BUILDDIR%/html
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The HTML pages are in %BUILDDIR%/html.
+ goto end
+)
+
+if "%1" == "dirhtml" (
+ %SPHINXBUILD% -b dirhtml %ALLSPHINXOPTS% %BUILDDIR%/dirhtml
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The HTML pages are in %BUILDDIR%/dirhtml.
+ goto end
+)
+
+if "%1" == "singlehtml" (
+ %SPHINXBUILD% -b singlehtml %ALLSPHINXOPTS% %BUILDDIR%/singlehtml
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The HTML pages are in %BUILDDIR%/singlehtml.
+ goto end
+)
+
+if "%1" == "pickle" (
+ %SPHINXBUILD% -b pickle %ALLSPHINXOPTS% %BUILDDIR%/pickle
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished; now you can process the pickle files.
+ goto end
+)
+
+if "%1" == "json" (
+ %SPHINXBUILD% -b json %ALLSPHINXOPTS% %BUILDDIR%/json
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished; now you can process the JSON files.
+ goto end
+)
+
+if "%1" == "htmlhelp" (
+ %SPHINXBUILD% -b htmlhelp %ALLSPHINXOPTS% %BUILDDIR%/htmlhelp
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished; now you can run HTML Help Workshop with the ^
+.hhp project file in %BUILDDIR%/htmlhelp.
+ goto end
+)
+
+if "%1" == "qthelp" (
+ %SPHINXBUILD% -b qthelp %ALLSPHINXOPTS% %BUILDDIR%/qthelp
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished; now you can run "qcollectiongenerator" with the ^
+.qhcp project file in %BUILDDIR%/qthelp, like this:
+ echo.^> qcollectiongenerator %BUILDDIR%\qthelp\MindstormsEV3Toolbox.qhcp
+ echo.To view the help file:
+ echo.^> assistant -collectionFile %BUILDDIR%\qthelp\MindstormsEV3Toolbox.ghc
+ goto end
+)
+
+if "%1" == "devhelp" (
+ %SPHINXBUILD% -b devhelp %ALLSPHINXOPTS% %BUILDDIR%/devhelp
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished.
+ goto end
+)
+
+if "%1" == "epub" (
+ %SPHINXBUILD% -b epub %ALLSPHINXOPTS% %BUILDDIR%/epub
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The epub file is in %BUILDDIR%/epub.
+ goto end
+)
+
+if "%1" == "epub3" (
+ %SPHINXBUILD% -b epub3 %ALLSPHINXOPTS% %BUILDDIR%/epub3
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The epub3 file is in %BUILDDIR%/epub3.
+ goto end
+)
+
+if "%1" == "latex" (
+ %SPHINXBUILD% -b latex %ALLSPHINXOPTS% %BUILDDIR%/latex
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished; the LaTeX files are in %BUILDDIR%/latex.
+ goto end
+)
+
+if "%1" == "latexpdf" (
+ %SPHINXBUILD% -b latex %ALLSPHINXOPTS% %BUILDDIR%/latex
+ cd %BUILDDIR%/latex
+ make all-pdf
+ cd %~dp0
+ echo.
+ echo.Build finished; the PDF files are in %BUILDDIR%/latex.
+ goto end
+)
+
+if "%1" == "latexpdfja" (
+ %SPHINXBUILD% -b latex %ALLSPHINXOPTS% %BUILDDIR%/latex
+ cd %BUILDDIR%/latex
+ make all-pdf-ja
+ cd %~dp0
+ echo.
+ echo.Build finished; the PDF files are in %BUILDDIR%/latex.
+ goto end
+)
+
+if "%1" == "text" (
+ %SPHINXBUILD% -b text %ALLSPHINXOPTS% %BUILDDIR%/text
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The text files are in %BUILDDIR%/text.
+ goto end
+)
+
+if "%1" == "man" (
+ %SPHINXBUILD% -b man %ALLSPHINXOPTS% %BUILDDIR%/man
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The manual pages are in %BUILDDIR%/man.
+ goto end
+)
+
+if "%1" == "texinfo" (
+ %SPHINXBUILD% -b texinfo %ALLSPHINXOPTS% %BUILDDIR%/texinfo
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The Texinfo files are in %BUILDDIR%/texinfo.
+ goto end
+)
+
+if "%1" == "gettext" (
+ %SPHINXBUILD% -b gettext %I18NSPHINXOPTS% %BUILDDIR%/locale
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The message catalogs are in %BUILDDIR%/locale.
+ goto end
+)
+
+if "%1" == "changes" (
+ %SPHINXBUILD% -b changes %ALLSPHINXOPTS% %BUILDDIR%/changes
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.The overview file is in %BUILDDIR%/changes.
+ goto end
+)
+
+if "%1" == "linkcheck" (
+ %SPHINXBUILD% -b linkcheck %ALLSPHINXOPTS% %BUILDDIR%/linkcheck
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Link check complete; look for any errors in the above output ^
+or in %BUILDDIR%/linkcheck/output.txt.
+ goto end
+)
+
+if "%1" == "doctest" (
+ %SPHINXBUILD% -b doctest %ALLSPHINXOPTS% %BUILDDIR%/doctest
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Testing of doctests in the sources finished, look at the ^
+results in %BUILDDIR%/doctest/output.txt.
+ goto end
+)
+
+if "%1" == "coverage" (
+ %SPHINXBUILD% -b coverage %ALLSPHINXOPTS% %BUILDDIR%/coverage
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Testing of coverage in the sources finished, look at the ^
+results in %BUILDDIR%/coverage/python.txt.
+ goto end
+)
+
+if "%1" == "xml" (
+ %SPHINXBUILD% -b xml %ALLSPHINXOPTS% %BUILDDIR%/xml
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The XML files are in %BUILDDIR%/xml.
+ goto end
+)
+
+if "%1" == "pseudoxml" (
+ %SPHINXBUILD% -b pseudoxml %ALLSPHINXOPTS% %BUILDDIR%/pseudoxml
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. The pseudo-XML files are in %BUILDDIR%/pseudoxml.
+ goto end
+)
+
+if "%1" == "dummy" (
+ %SPHINXBUILD% -b dummy %ALLSPHINXOPTS% %BUILDDIR%/dummy
+ if errorlevel 1 exit /b 1
+ echo.
+ echo.Build finished. Dummy builder generates no files.
+ goto end
+)
+
+:end
diff --git a/docs/source.rst b/docs/source.rst
new file mode 100644
index 0000000000000000000000000000000000000000..f5b2873054d53d4013b9acad122738736680203c
--- /dev/null
+++ b/docs/source.rst
@@ -0,0 +1,21 @@
+.. automodule:: source
+
+EV3
+---
+
+.. autoclass:: EV3
+ :members:
+
+
+Motor
+-----
+
+.. autoclass:: Motor
+ :members: start, stop, syncedStart, syncedStop, waitFor, internalReset, resetTachoCount, setBrake, setProperties
+
+
+Sensor
+------
+
+.. autoclass:: Sensor
+ :members: reset, setProperties
diff --git a/source/Motor.m b/source/Motor.m
index be281aea8eca1d04a9721ba351967cd30e36312d..c96276cbe76b284d390e160fde4c9287465edcab 100755
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -1,122 +1,176 @@
classdef Motor < MaskedHandle & dynamicprops
- % Motor High-level class to work with motors.
+ % 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, request the current status of the motor ports and of course send
- % commands to the brick to be executed on the respective port.
+ % commands to the brick to be executed on the respective port.
%
% 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.
+ % * The Motor-class represents motor ports, not individual motors!
%
- %
- % Signature
- % Author: Tim Stadtmann
- % Date: 2016/05/19
- % Updated: 2016/08/15
+ % Attributes:
+ % power (numeric in [-100, 100]): Power level of motor in percent. [WRITABLE]
+ % speedRegulation (bool): Speed regulation turned on or off. When turned on, motor will
+ % try to 'hold' its speed at given power level, whatever the load. In this mode, the
+ % highest possible speed depends on the load and mostly goes up to around 70-80 (at
+ % this point, the Brick internally input 100% power). When turned off, motor will
+ % constantly input the same power into the motor. The resulting speed will be
+ % somewhat lower, depending on the load. [WRITABLE]
+ % smoothStart (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time
+ % indicating how far/long the motor should smoothly start. Depending on limitMode,
+ % the input is interpreted either in degrees or milliseconds. The first
+ % {smoothStart}-milliseconds/degrees of limitValue the motor will slowly accelerate
+ % until reaching its defined speed. [WRITABLE]
+ % smoothStop (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time
+ % indicating how far/long the motor should smoothly stop. Depending on limitMode, the
+ % input is interpreted either in degrees or milliseconds. The last
+ % [smoothStop]-milliseconds/degrees of limitValue the motor will slowly slow down
+ % until it has stopped. [WRITABLE]
+ % limitValue (numeric>=0): Degrees/Time indicating how far/long the motor should run.
+ % Depending on limitMode, the input is interpreted either in degrees or
+ % milliseconds. [WRITABLE]
+ % limitMode ('Tacho'|'Time'): Mode for motor limit. [WRITABLE]
+ % brakeMode ('Brake'|'Coast'): Mode for braking. If 'Coast', the motor will (at
+ % tacholimit, if ~=0) coast to a stop. If 'Brake', the motor will stop immediately
+ % (at tacholimit, if ~=0) and hold the brake. [WRITABLE]
+ % debug (bool): 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. [WRITABLE]
+ % isRunning (bool): True if motor is running. [READ-ONLY]
+ % tachoCount (numeric): Current tacho count. [READ-ONLY]
+ % currentSpeed (numeric): Current speed of motor. If speedRegulation=on this should equal power,
+ % otherwise it will probably be lower than that. [READ-ONLY]
+ % type (DeviceType): Type of connected device if any. [READ-ONLY]
+
properties % Standard properties to be set by user
- %power - [Writable] Power level of motor in percent (numeric in [-100, 100])
+ % power (numeric in [-100, 100]): Power level of motor in percent. [WRITABLE]
power;
- %speedRegulation - [Writable] Speed regulation turned on or off (0/1/off/on/'false'/'true')
- % When turned on, motor will try to 'hold' its speed at given power level, whatever the
- % load. In this mode, the highest possible speed depends on the load and mostly goes up
- % to around 70-80 (at this point, the Brick internally input 100% power).
- % When turned off, motor will constantly input the same power into the motor. The
- % resulting speed will be somewhat lower, depending on the load.
+ % speedRegulation (bool): Speed regulation turned on or off. When turned on, motor will
+ % try to 'hold' its speed at given power level, whatever the load. In this mode, the
+ % highest possible speed depends on the load and mostly goes up to around 70-80 (at
+ % this point, the Brick internally input 100% power). When turned off, motor will
+ % constantly input the same power into the motor. The resulting speed will be
+ % somewhat lower, depending on the load. [WRITABLE]
speedRegulation;
- %smoothStart - [Writable] Degrees/Time indicating how far/long the motor should smoothly start (numeric such that smoothStart+smoothStop < limitValue)
- % Depending on limitMode, the input is interpreted either in degrees or milliseconds.
- % The first [smoothStart]-milliseconds/degrees of limitValue the motor will slowly
- % accelerate until reaching it's defined speed.
- % See also MOTOR.LIMITMODE
+ % smoothStart (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time
+ % indicating how far/long the motor should smoothly start. Depending on limitMode,
+ % the input is interpreted either in degrees or milliseconds. The first
+ % {smoothStart}-milliseconds/degrees of limitValue the motor will slowly accelerate
+ % until reaching its defined speed. [WRITABLE]
smoothStart;
- %smoothStop - [Writable] Degrees/Time indicating how far/long the motor should smoothly stop (numeric such that smoothStart+smoothStop < limitValue)
- % Depending on limitMode, the input is interpreted either in degrees or milliseconds.
- % The last [smoothStop]-milliseconds/degrees of limitValue the motor will slowly
- % slow down until it has stopped.
- % See also MOTOR.LIMITMODE
+ % smoothStop (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time
+ % indicating how far/long the motor should smoothly stop. Depending on limitMode, the
+ % input is interpreted either in degrees or milliseconds. The last
+ % [smoothStop]-milliseconds/degrees of limitValue the motor will slowly slow down
+ % until it has stopped. [WRITABLE]
smoothStop;
- %limitValue - [Writable] Degrees/Time indicating how far/long the motor should run (numeric>=0)
- % Depending on limitMode, the input is interpreted either in degrees or milliseconds.
- % See also MOTOR.LIMITMODE
+ % limitValue (numeric>=0): Degrees/Time indicating how far/long the motor should run.
+ % Depending on limitMode, the input is interpreted either in degrees or
+ % milliseconds. [WRITABLE]
+ % See also MOTOR.LIMITMODE
limitValue;
- %limitMode - [Writable] Mode for motor limit ('Tacho'/'Time')
+ % limitMode ('Tacho'|'Time'): Mode for motor limit. [WRITABLE]
% See also MOTOR.SMOOTHSTART, MOTOR.SMOOTHSTOP, MOTOR.LIMITMODE
limitMode;
- %brakeMode - [Writable] Mode for braking ('Brake'/'Coast')
- % If 'Coast', the motor will (at tacholimit, if ~=0) coast to a stop. If
- % 'Brake', the motor will stop immediately (at tacholimit, if ~=0) and hold the brake.
+ % brakeMode ('Brake'|'Coast'): Mode for braking. If 'Coast', the motor will (at
+ % tacholimit, if ~=0) coast to a stop. If 'Brake', the motor will stop immediately
+ % (at tacholimit, if ~=0) and hold the brake. [WRITABLE]
brakeMode;
- %debug - [Writable] Debug turned on or off (0/1/off/on/'false'/'true')
- % 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
+ % debug (bool): 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. [WRITABLE]
debug;
end
properties (Dependent) % Read-only parameters to be read directly from physical brick
- %isRunning - [Read-only] True if motor is running (i.e. speed > 0)
+ % isRunning (bool): True if motor is running. [READ-ONLY]
isRunning;
- %tachoCount - [Read-only] Current tacho count
+ % tachoCount (numeric): Current tacho count. [READ-ONLY]
tachoCount;
- %currentSpeed - [Read-only] Current speed of motor
- % If speedRegulation=on this should equal power, otherwise it will probably be lower
- % than that.
+ % currentSpeed (numeric): Current speed of motor. If speedRegulation=on this should
+ % equal power, otherwise it will probably be lower than that. [READ-ONLY]
% See also MOTOR.SPEEDREGULATION
currentSpeed;
- %type - [Read-only] Type of connected device if any
- % See also DEVICETYPE
+ % type (DeviceType): Type of connected device if any. [READ-ONLY]
type;
end
- properties (Hidden, Access = 'private') % Hidden properties for internal use only
- commInterface; % Communication interface
+ properties (Hidden, Access = private) % Hidden properties for internal use only
+ % commInterface (CommunicationInterface): Commands are created and sent via the
+ % communication interface class.
+ commInterface;
- %% Hidden brick parameters
- %port - [Read-only] 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.
+ % port (string): 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.
port;
- % 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_ (BrakeMode): Byte value, corresponding to brakeMode, that will be sent to the brick
+ % 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).
+ % See also BRAKEMODE
brakeMode_;
- %% Flags
- init = true; % Indicates 'init-phase' (True as long as constructor is running)
- connectedToBrick = false; % Connection to physical Brick?
- state = MotorState(); % State consisting of several special Motor-flags
+ % init (bool): Indicates init-phase (i.e. constructor is running).
+ init = true;
+
+ % connectedToBrick (bool): True if virtual brick is connected to physical brick.
+ connectedToBrick = false;
+
+ % state (MotorState): State-struct consisting of several special Motor-flags
+ % See also MOTORSTATE
+ state = MotorState();
end
- properties (Hidden, Dependent, Access = 'private') % Hidden, dependent properties for internal use only
- portNo; % Port number
- portInput; % Port number for input functions
+ properties (Hidden, Dependent, Access = private) % Hidden, dependent properties for internal use only
+ % portNo (PortNo): Internal number of motor port.
+ % * Port 'A': 0
+ % * Port 'B': 1
+ % * Port 'C': 2
+ % * Port 'D': 3
+ % See also PORTNO
+ portNo;
- isSynced; % Is motor running in synced mode?
- physicalMotorConnected; % Physical motor connected to this port?
+ %portInput (PortInput): Internal number of motor port if accessed via input-opCodes
+ % * Port 'A': 16
+ % * Port 'B': 17
+ % * Port 'C': 18
+ % * Port 'D': 19
+ % See also PORTINPUT
+ portInput;
- internalTachoCount; % Internal tachocount used for positioning the motor with tacholimit
+ %isSynced (bool): True if motor is running in synced mode
+ isSynced;
+
+ %physicalMotorConnected (bool): True if physical motor is connected to this port
+ physicalMotorConnected;
+
+ %internalTachoCount (numeric): internal tacho counter used for positioning the motor with a limit
+ internalTachoCount;
end
methods % Standard methods
%% Constructor
function motor = Motor(varargin)
- %Motor Sets properties of Motor-object and indicates end of init-phase when it's done.
+ %Motor Sets properties of Motor-object and indicates end of init-phase when it's done
%
- % Arguments
- % * varargin: see EV3::setProperties(ev3, varargin)
+ % Arguments:
+ % * varargin: see setProperties(motor, varargin)
%
motor.setProperties(varargin{:});
@@ -125,9 +179,9 @@ classdef Motor < MaskedHandle & dynamicprops
%% Brick functions
function start(motor)
- %start Starts the motor
+ % Starts the motor
%
- % Notes
+ % Notes:
% * Right now, alternatingly calling this function with and without tacho limit
% may lead to unexpected behaviour. For example, if you run the motor without
% a tacholimit for some time using Coast, then stop using Coast, and then try
@@ -271,7 +325,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function stop(motor)
- %stop Stops the motor
+ % Stops the motor
if ~motor.connectedToBrick
error('Motor::stop: Motor-Object not connected to comm handle.');
@@ -293,7 +347,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function syncedStart(motor, syncMotor, varargin)
- %syncedStart Starts this motor synchronized with another
+ % Starts this motor synchronized with another
% This motor acts as a 'master', meaning that the synchronized control is done via
% this one. When syncedStart is called, the master sets some of the slave's
% (syncMotor) properties to keep it consistent with the physical brick. So, for
@@ -302,32 +356,33 @@ classdef Motor < MaskedHandle & dynamicprops
% 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]
+ % Arguments:
+ % syncMotor (Motor): the motor-object to sync with
+ % turnRatio (numeric in [-200,200]): 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. [OPTIONAL]
+ % * 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)"
%
- % 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 packets, so keep that in mind
+ % Notes:
+ % * This is right now a pretty 'heavy' function, as it tests if both motors are
+ % connected AND aren't running, wasting four packets, keep that in mind
+ % * It is necessary to call syncedStop() and not stop() for stopping the motors
+ % (otherwise the sync-state cannot be exited correctly)
%
- % Example
- % b = EV3(); b.connect('usb');
- % m = b.motorA;
- % m.power = 50;
- % m.syncedStart(b.motorB);
- % % Do stuff
- % m.syncedStop();
+ % Example:
+ % b = EV3(); b.connect('usb');
+ % m = b.motorA;
+ % m.power = 50;
+ % m.syncedStart(b.motorB);
+ % % Do stuff
+ % m.syncedStop();
%
turnRatio = 0;
@@ -420,7 +475,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function syncedStop(motor)
- %syncedStop Stops both motors previously started with syncedStart
+ % Stops both motors previously started with syncedStart.
% Obviously, if motors have not been started synchronized, this throws an error.
%
% See also MOTOR.SYNCEDSTART
@@ -471,7 +526,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function waitFor(motor)
- %waitFor Stops execution of program as long as motor is running
+ % Stops execution of program as long as motor is running
%
% Notes:
% * (OLD)This one's a bit tricky. The opCode OutputReady makes the brick stop sending
@@ -529,7 +584,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function internalReset(motor)
- % internalReset Resets internal tacho count
+ % Resets internal tacho count
% Use this if motor behaves weird (i.e. not starting at all, or not correctly
% running to limitValue)
%
@@ -559,6 +614,8 @@ classdef Motor < MaskedHandle & dynamicprops
end
function resetTachoCount(motor)
+ % Resets tachocount
+
if ~motor.connectedToBrick
error('Motor::resetTachoCount: Motor-Object not connected to comm handle.');
elseif ~motor.physicalMotorConnected
@@ -575,10 +632,10 @@ classdef Motor < MaskedHandle & dynamicprops
end
function setBrake(motor, brake)
- %setBrake Apply or release brake of motor
+ % Apply or release brake of motor
%
- % Arguments
- % * brake (0/1/off/on/'false'/'true')
+ % Arguments:
+ % brake (bool): If true, brake will be pulled
if ~isBool(brake)
error('Motor::setBrake: Given parameter is not a valid bool.');
@@ -736,28 +793,29 @@ classdef Motor < MaskedHandle & dynamicprops
end
function setProperties(motor, varargin)
- %setProperties Sets multiple Motor properties at once using MATLAB's inputParser.
+ % Sets multiple Motor properties at once using MATLAB's inputParser.
%
- % Arguments
- % * 'debug', bool
- % * 'smoothStart', numeric in [0, limitValue]
- % * 'smoothStop', numeric in [0, limitValue]
- % * 'speedRegulation', bool
- % * 'brakeMode', 'Coast'/'Brake'
- % * 'limitMode', 'Time'/'Tacho'
- % * 'limitValue', numeric > 0
- % * 'power', numeric in [-100,100]
- % * 'batteryMode', 'Voltage'/'Percentage'
+ % Arguments:
+ % debug (bool)
+ % smoothStart (numeric in [0, limitValue])
+ % smoothStop (numeric in [0, limitValue])
+ % speedRegulation (bool)
+ % brakeMode ('Coast'|'Brake')
+ % limitMode ('Time'|'Tacho')
+ % limitValue (numeric > 0)
+ % power (numeric in [-100,100])
+ % batteryMode ('Voltage'|'Percentage')
%
- % Example
- % b = EV3();
- % b.connect('bt', 'serPort', '/dev/rfcomm0');
- % b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on');
- % % Instead of: b.motorA.debug = 'on';
- % % b.motorA.power = 50;
- % % b.motorA.limitValue = 720;
- % % b.motorA.speedRegulation = 'on';
+ % Example:
+ % b = EV3();
+ % 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.limitValue = 720;
+ % % b.motorA.speedRegulation = 'on';
%
+
p = inputParser();
p.KeepUnmatched = 1;
@@ -894,17 +952,20 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
- methods (Access = 'private') % Private functions that directly interact with commLayer
+ methods (Access = private) % Private functions that directly interact with commLayer
function success = setPower(motor, power)
%setPower Sets given power value on the physical Brick.
%
% Notes:
- % * If motor is running with a limit, calling outputSpeed/outputPower, to
- % manually set the power on the physical brick, would stop the motor and adopt
- % the new power value on next start. To avoid this, the motor could be 'restarted'
- % 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 is running with a limit, calling outputSpeed/outputPower, to
+ % manually set the power on the physical brick, would stop the motor and adopt
+ % the new power value on next start. To avoid this, the motor could be 'restarted'
+ % 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.
+ %
+ % Returns:
+ % success (bool): if true, power has successfully been set
+
if ~motor.connectedToBrick || ~motor.physicalMotorConnected
% error('Motor::getTachoCount: Motor-Object not connected to comm handle.');
success = false;
@@ -1012,9 +1073,9 @@ classdef Motor < MaskedHandle & dynamicprops
%getMotorStatus Returns whether motor is busy or not.
%
% Notes:
- % * This *mostly* works. Sometimes this falsely returns 0 if isRunning() gets
- % called immediately after starting the motor.
- % * Busy is set to true if motor is running with tacholimit or synced
+ % * This *mostly* works. Sometimes this falsely returns 0 if isRunning() gets
+ % called immediately after starting the motor.
+ % * Busy is set to true if motor is running with tacholimit or synced
%
if ~motor.connectedToBrick
@@ -1077,7 +1138,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
- methods (Access = 'private', Hidden = true)
+ methods (Access = private, Hidden = true)
function saveState(motor)
%saveState Saves current motor state in dynamic property
@@ -1118,22 +1179,18 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
- methods (Access = {?EV3})
+ 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
+ % * This method is automatically called by EV3.connect()
+ % * This method actually only saves a handle to a Brick-object which has been
+ % created beforehand (probably by an EV3-object).
%
- % Examples (for use without EV3-class)
- % m = Motor();
- % brickInterface = Brick('usb');
- % m.connect(brickInterface);
- % % do stuff
+ % Arguments:
+ % commInterface (CommunicationInterface): Handle to a communication interface
+ % device
%
if motor.connectedToBrick
@@ -1162,23 +1219,17 @@ classdef Motor < MaskedHandle & dynamicprops
%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.
+ % * This method is automatically called by EV3.disconnect()
+ % * This method actually only sets the property, in which
+ % the handle to the CommInterface-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!!!
- %
-
- motor.commInterface = 0; % Note: actual deleting is done in EV3::disconnect.
+
+ motor.commInterface = 0;
motor.connectedToBrick = false;
end
function resetPhysicalMotor(motor)
+ %
if ~motor.connectedToBrick || ~motor.physicalMotorConnected
return;
end
diff --git a/source/Sensor.m b/source/Sensor.m
index d275d507371c37bb35570b7031a8641fef6a9e44..59132ecb06d4f590962e1c0a2b5dc48fd64759ff 100755
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -1,10 +1,57 @@
classdef Sensor < MaskedHandle
- % Sensor High-level class to work with sensors.
+ % High-level class to work with sensors.
+ %
+ % The Sensor-class facilitates the communication with sensors. This mainly consists of
+ % reading the sensor's type and current value in a specified mode.
%
- % Signature
- % Author: Tim Stadtmann
- % Date: 2016/05/20
- % Updated: 2016/08/15
+ % Notes:
+ % * You don't need to create instances of this class. The EV3-class automatically creates
+ % instances for each sensor port, and you can work with them via the EV3-object.
+ % * The Sensor-class represents sensor ports, not individual sensors!
+ %
+ % Attributes:
+ % mode (DeviceMode.{Type}): Sensor mode in which the value will be read. By default,
+ % mode is set to DeviceMode.Default.Undefined. Once a physical sensor is connected
+ % to the port *and* the physical Brick is connected to the EV3-object, the allowed
+ % mode and the default mode for a Sensor-object are the following (depending on the
+ % sensor type): [WRITABLE]
+ %
+ % * Touch-Sensor:
+ % * DeviceMode.Touch.Pushed [Default]
+ % * DeviceMode.Touch.Bumps
+ % * Ultrasonic-Sensor:
+ % * DeviceMode.UltraSonic.DistCM [Default]
+ % * DeviceMode.UltraSonic.DistIn
+ % * DeviceMode.UltraSonic.Listen
+ % * Color-Sensor:
+ % * DeviceMode.Color.Reflect [Default]
+ % * DeviceMode.Color.Ambient
+ % * DeviceMode.Color.Col
+ % * Gyro-Sensor:
+ % * DeviceMode.Gyro.Angular [Default]
+ % * DeviceMode.Gyro.Rate
+ % debug (bool): 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. [WRITABLE]
+ % value (numeric): Value read from hysical sensor. What the value represents depends on
+ % sensor.mode.
+ % type (DeviceType): Type of physical sensor connected to the port. Possible types are: [READ-ONLY]
+ % * DeviceType.NXTTouch
+ % * DeviceType.NXTLight
+ % * DeviceType.NXTSound
+ % * DeviceType.NXTColor
+ % * DeviceType.NXTUltraSonic
+ % * DeviceType.NXTTemperature
+ % * DeviceType.LargeMotor
+ % * DeviceType.MediumMotor
+ % * DeviceType.Touch
+ % * DeviceType.Color
+ % * DeviceType.UltraSonic
+ % * DeviceType.Gyro
+ % * DeviceType.InfraRed
+ % * DeviceType.Unknown
+ % * DeviceType.None
+ % * DeviceType.Error
properties % Standard properties to be set by user
%mode - [Writable] Sensor mode in which the value will be read (DeviceMode.[...])
@@ -42,7 +89,7 @@ classdef Sensor < MaskedHandle
type;
end
- properties (Hidden, Access = 'private') % Hidden properties for internal use only
+ properties (Hidden, Access = private) % Hidden properties for internal use only
commInterface = 0; % Communication interface
%port - [Read-only] Sensor port ('1'/'2'/'3'/'4')
@@ -56,7 +103,7 @@ classdef Sensor < MaskedHandle
init = true; % Indicates 'init-phase' (True as long as constructor is running)
end
- properties (Hidden, Dependent, Access = 'private')
+ properties (Hidden, Dependent, Access = private)
physicalSensorConnected; % Physical sensor connected to this port?
end
@@ -70,6 +117,7 @@ classdef Sensor < MaskedHandle
%% 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.connectedToBrick
error('Sensor::reset: Sensor-Object not connected to comm handle.');
@@ -139,16 +187,16 @@ classdef Sensor < MaskedHandle
function setProperties(sensor, varargin)
%setProperties Sets multiple Sensor properties at once using MATLAB's inputParser.
%
- % Arguments
- % * 'debug', 0/1/'on'/'off'/'true'/'false'
- % * 'mode', DeviceMode.[...]
+ % Arguments:
+ % * 'debug', 0/1/'on'/'off'/'true'/'false'
+ % * 'mode', DeviceMode.[...]
%
- % Example
- % b = EV3();
- % 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;
+ % Example:
+ % b = EV3();
+ % 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;
%
p = inputParser();
@@ -221,7 +269,7 @@ classdef Sensor < MaskedHandle
end
end
- methods (Access = 'private') % Private brick functions that are wrapped by dependent params
+ methods (Access = private) % Private brick functions that are wrapped by dependent params
function setMode(sensor, mode)
if ~sensor.connectedToBrick
error('Sensor::getTachoCount: Sensor-Object not connected to comm handle.');
@@ -242,7 +290,7 @@ classdef Sensor < MaskedHandle
function val = getValue(sensor, varargin)
%getValue Reads value from sensor
%
- % Notes
+ % Notes:
% * After changing the mode, sensors initially always send an invalid value. In
% this case, the inputReadSI-opCode is sent again to get the correct value.
%
@@ -324,7 +372,7 @@ classdef Sensor < MaskedHandle
end
- methods (Access = {?EV3})
+ methods (Access = ?EV3)
function connect(sensor,commInterface)
%connect Connects Sensor-object to physical brick
@@ -368,4 +416,3 @@ classdef Sensor < MaskedHandle
end
end
end
-
diff --git a/source/bitfield2input.m b/source/private/bitfield2input.m
similarity index 100%
rename from source/bitfield2input.m
rename to source/private/bitfield2input.m
diff --git a/source/bitfield2port.m b/source/private/bitfield2port.m
similarity index 100%
rename from source/bitfield2port.m
rename to source/private/bitfield2port.m
diff --git a/source/bool2str.m b/source/private/bool2str.m
similarity index 100%
rename from source/bool2str.m
rename to source/private/bool2str.m
diff --git a/source/brake2str.m b/source/private/brake2str.m
similarity index 100%
rename from source/brake2str.m
rename to source/private/brake2str.m
diff --git a/source/input2bitfield.m b/source/private/input2bitfield.m
similarity index 100%
rename from source/input2bitfield.m
rename to source/private/input2bitfield.m
diff --git a/source/input2port.m b/source/private/input2port.m
similarity index 100%
rename from source/input2port.m
rename to source/private/input2port.m
diff --git a/source/isBool.m b/source/private/isBool.m
similarity index 100%
rename from source/isBool.m
rename to source/private/isBool.m
diff --git a/source/isCommInterfaceValid.m b/source/private/isCommInterfaceValid.m
similarity index 100%
rename from source/isCommInterfaceValid.m
rename to source/private/isCommInterfaceValid.m
diff --git a/source/isDeviceValid.m b/source/private/isDeviceValid.m
similarity index 100%
rename from source/isDeviceValid.m
rename to source/private/isDeviceValid.m
diff --git a/source/isModeValid.m b/source/private/isModeValid.m
similarity index 100%
rename from source/isModeValid.m
rename to source/private/isModeValid.m
diff --git a/source/isPortEnumValid.m b/source/private/isPortEnumValid.m
similarity index 100%
rename from source/isPortEnumValid.m
rename to source/private/isPortEnumValid.m
diff --git a/source/isPortStrValid.m b/source/private/isPortStrValid.m
similarity index 100%
rename from source/isPortStrValid.m
rename to source/private/isPortStrValid.m
diff --git a/source/isSyncedBitfield.m b/source/private/isSyncedBitfield.m
similarity index 100%
rename from source/isSyncedBitfield.m
rename to source/private/isSyncedBitfield.m
diff --git a/source/port2bitfield.m b/source/private/port2bitfield.m
similarity index 100%
rename from source/port2bitfield.m
rename to source/private/port2bitfield.m
diff --git a/source/port2input.m b/source/private/port2input.m
similarity index 100%
rename from source/port2input.m
rename to source/private/port2input.m
diff --git a/source/port2str.m b/source/private/port2str.m
similarity index 100%
rename from source/port2str.m
rename to source/private/port2str.m
diff --git a/source/str2PortParam.m b/source/private/str2PortParam.m
similarity index 100%
rename from source/str2PortParam.m
rename to source/private/str2PortParam.m
diff --git a/source/str2bool.m b/source/private/str2bool.m
similarity index 100%
rename from source/str2bool.m
rename to source/private/str2bool.m
diff --git a/source/str2brake.m b/source/private/str2brake.m
similarity index 100%
rename from source/str2brake.m
rename to source/private/str2brake.m
diff --git a/tools/setupBackground.sh b/tools/setupBackground.sh
new file mode 100755
index 0000000000000000000000000000000000000000..613576ff8e6d8ed0800eefbdb3215c5cb0e1513f
--- /dev/null
+++ b/tools/setupBackground.sh
@@ -0,0 +1,6 @@
+#!/bin/sh
+
+# something else is also changing these settings at startup, wait for a short moment, then put our settings
+sleep 5s
+gsettings set org.gnome.desktop.background picture-options 'stretched'
+