diff --git a/source/CommunicationInterface.m b/source/CommunicationInterface.m
index 66758207ec91db80556f6ae2fc48912e16b81275..858e6d67f520bbdcd5fb03a60ca46f84055d6167 100755
--- a/source/CommunicationInterface.m
+++ b/source/CommunicationInterface.m
@@ -392,30 +392,7 @@ classdef CommunicationInterface < handle
cmd.addLength();
brick.send(cmd);
end
-
- function playThreeTones(brick)
- % Brick.playThreeTones Play three tones on the brick
- %
- % Brick.playThreeTones() plays three tones consequentively on
- % the brick with one upload command.
- %
- % Example::
- % b.playThreeTones();
-
- cmd = Command();
- cmd.addHeaderDirect(42,0,0);
- cmd.opSOUND_TONE(5,440,500);
- cmd.opSOUND_READY();
- cmd.opSOUND_TONE(10,880,500);
- cmd.opSOUND_READY();
- cmd.opSOUND_TONE(15,1320,500);
- cmd.opSOUND_READY();
- cmd.addLength();
- % print message
- fprintf('Sending three tone message ...\n');
- brick.send(cmd);
- end
-
+
% Implemented @ MMI
function types = inputDeviceList(brick)
% Brick.inputDeviceList Get an array of sensor types
@@ -856,9 +833,9 @@ classdef CommunicationInterface < handle
reply = brick.receive()';
msg = reply.msg;
reading = msg(6);
- if brick.debug > 0
- fprintf('Sensor reading: %.02f\n', reading);
- end
+% if brick.debug > 0
+% fprintf('Sensor reading: %.02f\n', reading);
+% end
end
function reading = inputReadSI(brick,layer,no,mode)
@@ -887,9 +864,9 @@ classdef CommunicationInterface < handle
reply = brick.receive()';
msg = reply.msg;
reading = typecast(uint8(msg(6:9)),'single');
- if brick.debug > 0
- fprintf('Sensor reading: %.02f\n', reading);
- end
+% if brick.debug > 0
+% fprintf('Sensor reading: %.02f\n', reading);
+% end
end
function reading = inputReadSIType(brick,layer,no,type,mode)
@@ -918,9 +895,9 @@ classdef CommunicationInterface < handle
reply = brick.receive()';
msg = reply.msg;
reading = typecast(uint8(msg(6:9)),'single');
- if brick.debug > 0
- fprintf('Sensor reading: %.02f\n', reading);
- end
+% if brick.debug > 0
+% fprintf('Sensor reading: %.02f\n', reading);
+% end
end
function outputStop(brick,layer,nos,brake)
@@ -944,25 +921,6 @@ classdef CommunicationInterface < handle
brick.send(cmd);
end
- function outputStopAll(brick)
- % Brick.outputStopAll Stops all motors
- %
- % Brick.outputStopAll(layer) stops all motors on layer 0.
- %
- % Notes::
- % - layer is the usb chain layer (usually 0).
- % - Sends 0x0F as the NOS bit field to stop all motors.
- %
- % Example::
- % b.outputStopAll(0)
-
- cmd = Command();
- cmd.addHeaderDirect(42,0,0);
- cmd.opOUTPUT_STOP(0,15,BrakeMode.Brake);
- cmd.addLength();
- brick.send(cmd);
- end
-
function outputPower(brick,layer,nos,power)
% Brick.outputPower Set the motor output power
%
@@ -1345,9 +1303,9 @@ classdef CommunicationInterface < handle
reply = brick.receive()';
msg = reply.msg;
tacho = typecast(uint8(msg(6:9)),'int32');
- if brick.debug > 0
- fprintf('Tacho: %d degrees\n', tacho);
- end
+% if brick.debug > 0
+% fprintf('Tacho: %d degrees\n', tacho);
+% end
end
% Implemented @ MMI
@@ -1400,10 +1358,10 @@ classdef CommunicationInterface < handle
catch
speed = 0; % Sometimes, the response packet lacks the 10th byte...?!
end
- if brick.debug > 0
- fprintf('Speed: %d\n', speed);
- fprintf('buggy Tacho: %d degrees\n', tacho);
- end
+% if brick.debug > 0
+% fprintf('Speed: %d\n', speed);
+% fprintf('buggy Tacho: %d degrees\n', tacho);
+% end
end
% Implemented @ MMI
@@ -1884,6 +1842,29 @@ classdef CommunicationInterface < handle
brick.soundPlayTone(volume, 1000, duration);
end
+ function playThreeTones(brick)
+ % Brick.playThreeTones Play three tones on the brick
+ %
+ % Brick.playThreeTones() plays three tones consequentively on
+ % the brick with one upload command.
+ %
+ % Example::
+ % b.playThreeTones();
+
+ cmd = Command();
+ cmd.addHeaderDirect(42,0,0);
+ cmd.opSOUND_TONE(5,440,500);
+ cmd.opSOUND_READY();
+ cmd.opSOUND_TONE(10,880,500);
+ cmd.opSOUND_READY();
+ cmd.opSOUND_TONE(15,1320,500);
+ cmd.opSOUND_READY();
+ cmd.addLength();
+ % print message
+ fprintf('Sending three tone message ...\n');
+ brick.send(cmd);
+ end
+
function plotSensor(brick,layer,no,mode)
% Brick.plotSensor plot the sensor output
%
@@ -2010,16 +1991,16 @@ classdef CommunicationInterface < handle
% Verbose output
if brick.debug > 0
- fprintf('sent (hex): [ ');
+ fprintf('sent: [ ');
for ii=1:length(cmd.msg)
fprintf('%s ',dec2hex(cmd.msg(ii)))
end
fprintf(']\n');
- fprintf('sent (dec): [ ');
- for ii=1:length(cmd.msg)
- fprintf('%d ',cmd.msg(ii))
- end
- fprintf(']\n');
+% fprintf('\t (dec): [ ');
+% for ii=1:length(cmd.msg)
+% fprintf('%d ',cmd.msg(ii))
+% end
+% fprintf(']\n\n');
end
end
@@ -2087,16 +2068,16 @@ classdef CommunicationInterface < handle
% Verbose output
if brick.debug > 0
- fprintf('received (hex): [ ');
+ fprintf('received: [ ');
for ii=1:length(rmsg)
fprintf('%s ',dec2hex(rmsg(ii)))
end
fprintf(']\n');
- fprintf('received (dec): [ ');
- for ii=1:length(rmsg)
- fprintf('%d ',rmsg(ii))
- end
- fprintf(']\n');
+% fprintf('\t (dec): [ ');
+% for ii=1:length(rmsg)
+% fprintf('%d ',rmsg(ii))
+% end
+% fprintf(']\n\n');
end
end
diff --git a/source/EV3.m b/source/EV3.m
index 851a4fab8e2320507139ebadcebad9c29136e653..7ddac27cb16018951b46d7163ef2d60456804246 100755
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -125,16 +125,16 @@ classdef EV3 < MaskedHandle
ev3.setProperties(varargin{:});
- 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.motorA = Motor('A', 'Debug', ev3.debug>0);
+ ev3.motorB = Motor('B', 'Debug', ev3.debug>0);
+ ev3.motorC = Motor('C', 'Debug', ev3.debug>0);
+ ev3.motorD = Motor('D', 'Debug', ev3.debug>0);
- 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.sensor1 = Sensor('1', 'Debug', ev3.debug>0);
+ ev3.sensor2 = Sensor('2', 'Debug', ev3.debug>0);
+ ev3.sensor3 = Sensor('3', 'Debug', ev3.debug>0);
+ ev3.sensor4 = Sensor('4', 'Debug', ev3.debug>0);
ev3.init = false;
end
@@ -294,10 +294,10 @@ classdef EV3 < MaskedHandle
'You have to call ev3.connect(...) first!']);
end
- ev3.commInterface.beep();
+ ev3.commInterface.soundPlayTone(10, 1000, 100);
if ev3.debug
- fprintf('(DEBUG) EV3::beep: Called beep on brick\n');
+ fprintf('(DEBUG) EV3::beep: Sent ''soundPlayTone''-command\n');
end
end
@@ -307,7 +307,7 @@ classdef EV3 < MaskedHandle
% Arguments:
% volume (numeric in [0, 100]): in percent
% frequency (numeric in [250, 10000]): in Hertz
- % duration (numeric >0): in milliseconds
+ % duration (numeric > 0): in milliseconds
%
% Example:
% b = EV3(); % |br|
@@ -324,7 +324,7 @@ classdef EV3 < MaskedHandle
ev3.commInterface.soundPlayTone(volume, frequency, duration);
if ev3.debug
- fprintf('(DEBUG) EV3::beep: Called soundPlayTone on brick\n');
+ fprintf('(DEBUG) EV3::playTone: Sent ''soundPlayTone''-command\n');
end
end
@@ -346,7 +346,7 @@ classdef EV3 < MaskedHandle
ev3.commInterface.soundStopTone();
if ev3.debug
- fprintf('(DEBUG) EV3::beep: Called soundStopTone on brick\n');
+ fprintf('(DEBUG) EV3::stopTone: Called ''soundStopTone''-command\n');
end
end
@@ -372,7 +372,7 @@ classdef EV3 < MaskedHandle
status = ev3.commInterface.soundTest;
if ev3.debug
- fprintf('(DEBUG) EV3::beep: Called soundTest on brick\n');
+ fprintf('(DEBUG) EV3::tonePlayed: Called ''soundTest''-command\n');
end
end
@@ -404,6 +404,16 @@ classdef EV3 < MaskedHandle
if ev3.isConnected
ev3.commInterface.debug = (ev3.debug >= 2);
end
+
+ ev3.motorA.debug = (ev3.debug > 0);
+ ev3.motorB.debug = (ev3.debug > 0);
+ ev3.motorC.debug = (ev3.debug > 0);
+ ev3.motorD.debug = (ev3.debug > 0);
+
+ ev3.sensor1.debug = (ev3.debug > 0);
+ ev3.sensor2.debug = (ev3.debug > 0);
+ ev3.sensor3.debug = (ev3.debug > 0);
+ ev3.sensor4.debug = (ev3.debug > 0);
end
function setProperties(ev3, varargin)
@@ -484,13 +494,13 @@ classdef EV3 < MaskedHandle
bat = ev3.commInterface.uiReadLbatt();
if ev3.debug
- fprintf('(DEBUG) EV3::getBattery: Called uiReadLBatt.\n');
+ fprintf('(DEBUG) EV3::getBattery: Called ''uiReadLBatt''-command\n');
end
else
bat = ev3.commInterface.uiReadVbatt();
if ev3.debug
- fprintf('(DEBUG) EV3::getBattery: Called uiReadVBatt.\n');
+ fprintf('(DEBUG) EV3::getBattery: Called ''uiReadVBatt''-command\n');
end
end
end
diff --git a/source/Motor.m b/source/Motor.m
index 5220f46afee9111edbb6ac48f0365ed05f7f0fbf..62fb6bcef6d6bbcfdc1f3a78deecc2ea44301883 100755
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -272,11 +272,11 @@ classdef Motor < MaskedHandle & dynamicprops
end
- motor.commInterface.outputStart(0, motor.port);
-
if motor.debug
- fprintf('(DEBUG) Motor::start: Called outputStart on Port %s\n', port2str('Motor', motor.port));
+ fprintf('\n(DEBUG) Motor::start: Calling ''outputStart''-command on Port %s...\n', port2str('Motor', motor.port));
end
+ motor.commInterface.outputStart(0, motor.port);
+
motor.state.startedNotBusy = true;
else
limit = motor.limitValue - (motor.smoothStart + motor.smoothStop);
@@ -287,43 +287,43 @@ classdef Motor < MaskedHandle & dynamicprops
if strcmpi(motor.limitMode, 'Tacho')
if motor.speedRegulation
+ if motor.debug
+ fprintf('\n(DEBUG) Motor::start: Calling ''outputStepSpeed''-command on Port %s...\n',...
+ port2str('Motor', motor.port));
+ end
+
motor.commInterface.outputStepSpeed(0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
-
+ else
if motor.debug
- fprintf('(DEBUG) Motor::start: Called outputStepSpeed on Port %s\n',...
+ fprintf('\n(DEBUG) Motor::start: Calling ''outputStepPower''-command on Port %s...\n',...
port2str('Motor', motor.port));
end
- else
+
motor.commInterface.outputStepPower(0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
-
- if motor.debug
- fprintf('(DEBUG) Motor::start: Called outputStepPower on Port %s\n',...
- port2str('Motor', motor.port));
- end
end
elseif strcmpi(motor.limitMode, 'Time')
if motor.speedRegulation
+ if motor.debug
+ fprintf('\n(DEBUG) Motor::start: Calling ''outputTimeSpeed''-command on Port %s...\n',...
+ port2str('Motor', motor.port));
+ end
+
motor.commInterface.outputTimeSpeed(0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
-
+ else
if motor.debug
- fprintf('(DEBUG) Motor::start: Called outputTimeSpeed on Port %s\n',...
+ fprintf('\n(DEBUG) Motor::start: Calling ''outputTimePower''-command on Port %s...\n',...
port2str('Motor', motor.port));
end
- else
+
motor.commInterface.outputTimePower(0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
-
- if motor.debug
- fprintf('(DEBUG) Motor::start: Called outputTimePower on Port %s\n',...
- port2str('Motor', motor.port));
- end
end
end
end
@@ -349,11 +349,10 @@ classdef Motor < MaskedHandle & dynamicprops
return;
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));
+ fprintf('\n(DEBUG) Motor::stop: Calling ''outputStop''-command on Port %s...\n', port2str('Motor', motor.port));
end
+ motor.commInterface.outputStop(0, motor.port, motor.brakeMode_);
motor.state.startedNotBusy = false;
end
@@ -474,21 +473,21 @@ classdef Motor < MaskedHandle & dynamicprops
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) Motor::syncedStart: Called outputStepSync on ' ,...
+ fprintf(['\n(DEBUG) Motor::syncedStart: Calling ''outputStepSync''-command 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.commInterface.outputStepSync(0, motor.port+syncMotor.port, ...
motor.power, turnRatio, ...
- motor.limitValue, motor.brakeMode_);
+ motor.limitValue, motor.brakeMode_);
+ elseif strcmpi(motor.limitMode, 'Time')
if motor.debug
- fprintf('(DEBUG) Motor::start: Called outputStepSync on Ports %s and %s.\n',...
+ fprintf('\n(DEBUG) Motor::start: Calling ''outputStepSync''-command on Ports %s and %s.\n',...
port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
end
+ motor.commInterface.outputTimeSync(0, motor.port+syncMotor.port, ...
+ motor.power, turnRatio, ...
+ motor.limitValue, motor.brakeMode_);
end
end
@@ -528,6 +527,10 @@ classdef Motor < MaskedHandle & dynamicprops
syncMotor.applyState();
% Synced stopping
+ if motor.debug
+ fprintf('\n(DEBUG) Motor::syncedStop: Calling ''outputStop''-command on Ports %s and %s.\n', ...
+ port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
+ end
motor.commInterface.outputStop(0, motor.port+syncMotor.port, motor.brakeMode_);
% On next start, both motors have to send power-opcode again
@@ -537,12 +540,6 @@ classdef Motor < MaskedHandle & dynamicprops
if syncMotor.state.sendPowerOnSet
syncMotor.state.sendOnStart = bitset(syncMotor.state.sendOnStart, SendOnStart.Power, 1);
end
-
-
- if motor.debug
- fprintf('(DEBUG) Motor::syncedStop: Called outputStop on Ports %s and %s.\n', ...
- port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
- end
end
function waitFor(motor)
@@ -593,12 +590,11 @@ classdef Motor < MaskedHandle & dynamicprops
port2str('Motor', motor.port));
end
- motor.commInterface.outputReset(0, motor.port);
-
if motor.debug
- fprintf('(DEBUG) Motor::internalReset: Called outputReset on Port %s\n',...
+ fprintf('\n(DEBUG) Motor::internalReset: Calling ''outputReset''-command on Port %s...\n',...
port2str('Motor', motor.port));
end
+ motor.commInterface.outputReset(0, motor.port);
end
function resetTachoCount(motor)
@@ -613,12 +609,11 @@ classdef Motor < MaskedHandle & dynamicprops
port2str('Motor', motor.port));
end
- motor.commInterface.outputClrCount(0, motor.port);
-
if motor.debug
- fprintf('(DEBUG) Motor::resetTachoCount: Called outputClrCount on Port %s\n',...
+ fprintf('\n(DEBUG) Motor::resetTachoCount: Calling ''outputClrCount''-command on Port %s...\n',...
port2str('Motor', motor.port));
end
+ motor.commInterface.outputClrCount(0, motor.port);
end
function setBrake(motor, brake)
@@ -988,17 +983,15 @@ classdef Motor < MaskedHandle & dynamicprops
end;
if motor.currentSpeedRegulation
- motor.commInterface.outputSpeed(0, motor.port, power);
-
if motor.debug
- fprintf('(DEBUG) Motor::setPower: Called outputSpeed on Port %s\n', port2str('Motor', motor.port));
+ fprintf('\n(DEBUG) Motor::setPower: Calling ''outputSpeed''-command on Port %s...\n', port2str('Motor', motor.port));
end
+ motor.commInterface.outputSpeed(0, motor.port, power);
else
- motor.commInterface.outputPower(0, motor.port, power);
-
if motor.debug
- fprintf('(DEBUG) Motor::setPower: Called outputPower on Port %s\n', port2str('Motor', motor.port));
+ fprintf('\n(DEBUG) Motor::setPower: Calling ''outputPower''-command on Port %s...\n', port2str('Motor', motor.port));
end
+ motor.commInterface.outputPower(0, motor.port, power);
end
success = true;
return;
@@ -1009,14 +1002,14 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getTypeMode: Motor-Object not connected to comm handle.');
end
- [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',...
+ fprintf('\n(DEBUG) Motor::getTypeMode: Calling ''inputDeviceGetTypeMode''-command on Port %s...\n',...
port2str('Motor', motor.port));
end
+
+ [typeNo,modeNo] = motor.commInterface.inputDeviceGetTypeMode(0, motor.portInput);
+ type = DeviceType(typeNo);
+ mode = DeviceMode(type,modeNo);
end
function status = getStatus(motor)
@@ -1024,13 +1017,12 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getStatus: Motor-Object not connected to comm handle.');
end
- statusNo = motor.commInterface.inputDeviceGetConnection(0, motor.portInput);
- status = ConnectionType(statusNo);
-
if motor.debug
- fprintf('(DEBUG) Motor::getStatus: Called inputDeviceGetConnection on Port %s\n',...
+ fprintf('\n(DEBUG) Motor::getStatus: Calling ''inputDeviceGetConnection''-command on Port %s...\n',...
port2str('Motor', motor.port));
end
+ statusNo = motor.commInterface.inputDeviceGetConnection(0, motor.portInput);
+ status = ConnectionType(statusNo);
end
function cnt = getTachoCount(motor)
@@ -1038,29 +1030,28 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getTachoCount: Motor-Object not connected to comm handle.');
end
- cnt = motor.commInterface.outputGetCount(0, motor.portNo);
if motor.debug
- fprintf('(DEBUG) Motor::getTachoCount: Called outputGetCount on Port %s\n', port2str('Motor', motor.port));
+ fprintf('\n(DEBUG) Motor::getTachoCount: Calling ''outputGetCount''-command on Port %s...\n', port2str('Motor', motor.port));
end
+ cnt = motor.commInterface.outputGetCount(0, motor.portNo);
end
function cnt = getInternalTachoCount(motor)
- [~, cnt] = motor.commInterface.outputRead(0, motor.portNo);
if motor.debug
- fprintf('(DEBUG) Motor::getInternalTachoCount: Called outputRead on Port %s\n', port2str('Motor', motor.port));
+ fprintf('\n(DEBUG) Motor::getInternalTachoCount: Calling ''outputRead''-command on Port %s...\n', port2str('Motor', motor.port));
end
+ [~, cnt] = motor.commInterface.outputRead(0, motor.portNo);
end
function speed = getSpeed(motor)
if ~motor.connectedToBrick
error('Motor::getSpeed: Motor-Object not connected to comm handle.');
end
-
- 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));
+ fprintf('\n(DEBUG) Motor::getSpeed: Calling ''inputReadSI''-command on Port %s...\n', port2str('Motor', motor.port));
end
+ speed = motor.commInterface.inputReadSI(0, motor.portInput, DeviceMode.Motor.Speed);
end
function busy = getBusyFlag(motor)
@@ -1076,11 +1067,10 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::getBusyFlag: Motor-Object not connected to comm handle.');
end
- busy = motor.commInterface.outputTest(0, motor.port);
-
if motor.debug
- fprintf('(DEBUG) Motor::getBusyFlag: Called outputTest on Port %s\n', port2str('Motor', motor.port));
+ fprintf('\n(DEBUG) Motor::getBusyFlag: Calling ''outputTest''-command on Port %s...\n', port2str('Motor', motor.port));
end
+ busy = motor.commInterface.outputTest(0, motor.port);
end
function applyBrake(motor)
@@ -1093,6 +1083,11 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::applyBrake: Can''t apply brake because Motor is moving');
end
+ if motor.debug
+ fprintf(['\n(DEBUG) Motor::applyBrake: Calling ''outputPower'', ''outputStart'' and' ,...
+ '''outputStop'' on Port %s...\n'], port2str('Motor', motor.port));
+ end
+
if motor.speedRegulation
motor.commInterface.outputPower(0, motor.port, 0);
else
@@ -1100,11 +1095,6 @@ classdef Motor < MaskedHandle & dynamicprops
end
motor.commInterface.outputStart(0, motor.port);
motor.commInterface.outputStop(0, motor.port, BrakeMode.Brake);
-
- if motor.debug
- fprintf(['(DEBUG) Motor::applyBrake: Called outputPower, outputStart and' ,...
- 'outputStop on Port %s\n'], port2str('Motor', motor.port));
- end
end
function releaseBrake(motor)
@@ -1117,6 +1107,10 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::releaseBrake: Can''t release brake because Motor is moving');
end
+ if motor.debug
+ fprintf(['\n(DEBUG) Motor::releaseBrake: Calling ''outputPower'', ''outputStart'' and' ,...
+ '''outputStop'' on Port %s...\n'], port2str('Motor', motor.port));
+ end
if motor.speedRegulation
motor.commInterface.outputPower(0, motor.port, 0);
else
@@ -1124,11 +1118,6 @@ classdef Motor < MaskedHandle & dynamicprops
end
motor.commInterface.outputStart(0, motor.port);
motor.commInterface.outputStop(0, motor.port, BrakeMode.Coast);
-
- if motor.debug
- fprintf(['(DEBUG) Motor::releaseBrake: Called outputPower, outputStart and' ,...
- 'outputStop on Port %s\n'], port2str('Motor', motor.port));
- end
end
end
diff --git a/source/Sensor.m b/source/Sensor.m
index bbf73675d55a5888a61e181ce902f5711ea141ec..2cd6ec2c8e91cce616356f53673431c0e64439a1 100755
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -252,12 +252,11 @@ classdef Sensor < MaskedHandle
% warning(['Sensor::reset: Current version of reset resets ALL devices, that is, ',...
% 'all motor tacho counts and all other sensor counters!']);
- sensor.commInterface.inputDeviceClrAll(0);
-
if sensor.debug
- fprintf('(DEBUG) Sensor::reset: Called inputReadSI on Port %d.\n',...
+ fprintf('\n(DEBUG) Sensor::reset: Calling ''inputReadSI''-command on Port %d...\n',...
sensor.port+1);
end
+ sensor.commInterface.inputDeviceClrAll(0);
end
%% Setter
@@ -395,13 +394,12 @@ classdef Sensor < MaskedHandle
sensor.port+1);
end
- 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 %d.\n',...
+ fprintf('\n(DEBUG) Sensor::setMode: Calling ''inputReadSI''-command on Port %d...\n',...
sensor.port+1);
end
+ sensor.commInterface.inputReadSI(0, sensor.port, mode); % Reading a value implicitly
+ % sets the mode.
end
function val = getValue(sensor, varargin)
@@ -428,10 +426,17 @@ classdef Sensor < MaskedHandle
end
if defaultMode ~= -1
- val = sensor.commInterface.inputReadSI(0, sensor.port, defaultMode);
+ mode = defaultMode;
else
- val = sensor.commInterface.inputReadSI(0, sensor.port, sensor.mode);
+ mode = sensor.mode;
+ end
+
+ if sensor.debug
+ fprintf('\n(DEBUG) Sensor::getValue: Calling ''inputReadSI''-command on Port %d...\n',...
+ sensor.port+1);
end
+ val = sensor.commInterface.inputReadSI(0, sensor.port, sensor.mode);
+
if strcmp(class(sensor.mode), 'DeviceMode.Color')
if sensor.mode == DeviceMode.Color.Col
@@ -441,16 +446,11 @@ classdef Sensor < MaskedHandle
% See note
if isnan(val)
- val = sensor.commInterface.inputReadSI(0, sensor.port, sensor.mode);
if sensor.debug
- fprintf('(DEBUG) Sensor::getValue: Called inputReadSI on Port %d.\n',...
+ fprintf('\n(DEBUG) Sensor::getValue: Calling ''inputReadSI''-command on Port %d...\n',...
sensor.port+1);
end
- end
-
- if sensor.debug
- fprintf('(DEBUG) Sensor::getValue: Called inputReadSI on Port %d.\n',...
- sensor.port+1);
+ val = sensor.commInterface.inputReadSI(0, sensor.port, sensor.mode);
end
end
@@ -459,13 +459,13 @@ classdef Sensor < MaskedHandle
error('Sensor::getStatus: Sensor-Object not connected to comm handle.');
end
- statusNo = sensor.commInterface.inputDeviceGetConnection(0, sensor.port);
- status = ConnectionType(statusNo);
-
if sensor.debug
- fprintf(['(DEBUG) Sensor::getStatus: Called inputDeviceGetConnection on ' ,...
- 'Port %d.\n'], sensor.port+1);
+ fprintf(['\n(DEBUG) Sensor::getStatus: Calling ''inputDeviceGetConnection''-command on ' ,...
+ 'Port %d...\n'], sensor.port+1);
end
+
+ statusNo = sensor.commInterface.inputDeviceGetConnection(0, sensor.port);
+ status = ConnectionType(statusNo);
end
function [type,mode] = getTypeMode(sensor)
@@ -474,6 +474,11 @@ classdef Sensor < MaskedHandle
end
type = DeviceType.Error;
+
+ if sensor.debug
+ fprintf(['\n(DEBUG) Sensor::getStatus: Calling ''inputDeviceGetConnection''-command on ' ,...
+ 'Port %d...\n'], sensor.port+1);
+ end
for i = 1:10
try
[typeNo,modeNo] = sensor.commInterface.inputDeviceGetTypeMode(0, sensor.port);
@@ -489,11 +494,6 @@ classdef Sensor < MaskedHandle
catch ME
mode = DeviceMode.Default.Undefined;
end
-
- if sensor.debug
- fprintf(['(DEBUG) Sensor::getStatus: Called inputDeviceGetConnection on ' ,...
- 'Port %d.\n'], sensor.port+1);
- end
end
end
diff --git a/source/usbBrickIO.m b/source/usbBrickIO.m
index 5854cc57a775c682caf3ab41dca62ae819a78bd8..47a682098d4bc2fd538c9a944abd6dda20f9585d 100755
--- a/source/usbBrickIO.m
+++ b/source/usbBrickIO.m
@@ -56,7 +56,7 @@ classdef usbBrickIO < BrickIO
end
if brickIO.debug > 0
- fprintf('usbBrickIO init\n');
+ fprintf('(DEBUG) (USB init)\n');
end
% Create the usb handle
@@ -96,10 +96,9 @@ classdef usbBrickIO < BrickIO
% delete(brickIO) closes the usb connection handle
if brickIO.debug > 0
- fprintf('usbBrickIO delete\n');
+ fprintf('(DEBUG) (USB delete)\n');
end
- % Disconnect
try
brickIO.close;
catch
@@ -114,7 +113,7 @@ classdef usbBrickIO < BrickIO
% interface.
if brickIO.debug > 0
- fprintf('usbBrickIO open\n');
+ fprintf('(DEBUG) (USB open)\n');
end
% Open the usb handle (MMI: and handle possible errors)
@@ -143,7 +142,7 @@ classdef usbBrickIO < BrickIO
% usbBrickIO.close() closes the usb handle through the hidapi
% interface.
if brickIO.debug > 0
- fprintf('usbBrickIO close\n');
+ fprintf('(DEBUG) (USB close) \n');
end
try
@@ -170,7 +169,7 @@ classdef usbBrickIO < BrickIO
% implementation.
if brickIO.debug > 0
- fprintf('usbBrickIO read\n');
+ fprintf('(DEBUG) (USB read) ');
end
% Read from the usb handle
@@ -220,7 +219,7 @@ classdef usbBrickIO < BrickIO
% uint8 format.
if brickIO.debug > 0
- fprintf('usbBrickIO write\n');
+ fprintf('(DEBUG) (USB write) ');
end
% Write to the usb handle using report ID 0