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diff --git a/docs/_build/html/EV3.html b/docs/_build/html/EV3.html
index dce9c0a6f2481521f94c419c374111237175058c..7f30eca689a28b2a910b53e71062e018a8f89f4e 100644
--- a/docs/_build/html/EV3.html
+++ b/docs/_build/html/EV3.html
@@ -153,53 +153,57 @@ commands to it. An EV3-object creates 4 Motor- and 4 Sensor-objects, one for eac
<ul class="simple">
<li>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.</li>
+<li>When an input argument of a method is marked as optional, the argument needs to be
+'announced' by a preceding 2nd argument, which is a string containing the name of the argument.
+For example, Motor.setProperties may be given a power-parameter. The syntax would be as
+follows: <em>brickObject.motorA.setProperties('power', 50);</em></li>
</ul>
<dl class="attribute">
<dt id="source.EV3.motorA">
<code class="descname">motorA</code><a class="headerlink" href="#source.EV3.motorA" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Motor</em> – Motor-object interfacing port A</p>
+<dd><p><em>Motor</em> – Motor-object interfacing port A. See also <a class="reference internal" href="Motor.html#source.Motor" title="source.Motor"><code class="xref mat mat-class docutils literal"><span class="pre">Motor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.motorB">
<code class="descname">motorB</code><a class="headerlink" href="#source.EV3.motorB" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Motor</em> – Motor-object interfacing port B</p>
+<dd><p><em>Motor</em> – Motor-object interfacing port B. See also <a class="reference internal" href="Motor.html#source.Motor" title="source.Motor"><code class="xref mat mat-class docutils literal"><span class="pre">Motor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.motorC">
<code class="descname">motorC</code><a class="headerlink" href="#source.EV3.motorC" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Motor</em> – Motor-object interfacing port C</p>
+<dd><p><em>Motor</em> – Motor-object interfacing port C. See also <a class="reference internal" href="Motor.html#source.Motor" title="source.Motor"><code class="xref mat mat-class docutils literal"><span class="pre">Motor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.motorD">
<code class="descname">motorD</code><a class="headerlink" href="#source.EV3.motorD" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Motor</em> – Motor-object interfacing port D</p>
+<dd><p><em>Motor</em> – Motor-object interfacing port D. See also <a class="reference internal" href="Motor.html#source.Motor" title="source.Motor"><code class="xref mat mat-class docutils literal"><span class="pre">Motor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.sensor1">
<code class="descname">sensor1</code><a class="headerlink" href="#source.EV3.sensor1" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Sensor</em> – Motor-object interfacing port 1</p>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 1. See also <a class="reference internal" href="Sensor.html#source.Sensor" title="source.Sensor"><code class="xref mat mat-class docutils literal"><span class="pre">Sensor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.sensor2">
<code class="descname">sensor2</code><a class="headerlink" href="#source.EV3.sensor2" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Sensor</em> – Motor-object interfacing port 2</p>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 2. See also <a class="reference internal" href="Sensor.html#source.Sensor" title="source.Sensor"><code class="xref mat mat-class docutils literal"><span class="pre">Sensor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.sensor3">
<code class="descname">sensor3</code><a class="headerlink" href="#source.EV3.sensor3" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Sensor</em> – Motor-object interfacing port 3</p>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 3. See also <a class="reference internal" href="Sensor.html#source.Sensor" title="source.Sensor"><code class="xref mat mat-class docutils literal"><span class="pre">Sensor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.sensor4">
<code class="descname">sensor4</code><a class="headerlink" href="#source.EV3.sensor4" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Sensor</em> – Motor-object interfacing port 4</p>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 4. See also <a class="reference internal" href="Sensor.html#source.Sensor" title="source.Sensor"><code class="xref mat mat-class docutils literal"><span class="pre">Sensor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
@@ -216,15 +220,13 @@ been thoroughly tested yet, but seems to work on a first glance.</li>
<dl class="attribute">
<dt id="source.EV3.batteryMode">
<code class="descname">batteryMode</code><a class="headerlink" href="#source.EV3.batteryMode" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>string in {'Percentage', 'Voltage'}</em> – Mode for reading battery charge.
-<em>[WRITABLE]</em></p>
+<dd><p><em>string in {'Percentage', 'Voltage'}</em> – Mode for reading battery charge. See also <a class="reference internal" href="source.html#source.EV3.batteryValue" title="source.EV3.batteryValue"><code class="xref mat mat-attr docutils literal"><span class="pre">batteryValue</span></code></a>. <em>[WRITABLE]</em></p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.batteryValue">
<code class="descname">batteryValue</code><a class="headerlink" href="#source.EV3.batteryValue" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric</em> – Current battery charge. Depending on batteryMode, the reading
-is either in percentage or voltage. <em>[READ-ONLY]</em></p>
+<dd><p><em>numeric</em> – Current battery charge. Depending on batteryMode, the reading is either in percentage or voltage. See also <a class="reference internal" href="source.html#source.EV3.batteryMode" title="source.EV3.batteryMode"><code class="xref mat mat-attr docutils literal"><span class="pre">batteryMode</span></code></a>. <em>[READ-ONLY]</em></p>
</dd></dl>
<dl class="attribute">
@@ -233,29 +235,30 @@ is either in percentage or voltage. <em>[READ-ONLY]</em></p>
<dd><p><em>bool</em> – True if virtual brick-object is connected to physical one. <em>[READ-ONLY]</em></p>
</dd></dl>
-<p class="rubric">Examples</p>
-<p>b = EV3(); <br />
-b.connect('usb'); <br />
-ma = b.motorA; <br />
-ma.setProperties('power', 50, 'limitValue', 720); <br />
-ma.start(); <br />
+<p class="rubric">Example</p>
+<p>% This example expects a motor at port A and a (random) sensor at port 1 <br />
+b = EV3(); % <br />
+b.connect('usb'); % <br />
+ma = b.motorA; % <br />
+ma.setProperties('power', 50, 'limitValue', 720); % <br />
+ma.start(); % <br />
% fun <br />
-b.sensor1.value <br />
-b.waitFor(); <br />
-b.beep(); <br />
-delete b; <br /></p>
+ma.waitFor(); % <br />
+disp(b.sensor1.value); % <br />
+b.beep(); % <br />
+delete b; % <br /></p>
<dl class="method">
<dt id="source.EV3.beep">
<code class="descname">beep</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.beep" title="Permalink to this definition">¶</a></dt>
<dd><p>Plays a 'beep'-tone on brick.</p>
<p class="rubric">Notes</p>
<ul class="simple">
-<li>This equals playTone(10, 1000, 100) (Wraps the same opCode in comm-layer)</li>
+<li>This equals playTone(10, 1000, 100).</li>
</ul>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
-b.beep(); <br /></p>
+<p>b = EV3(); % <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); % <br />
+b.beep(); % <br /></p>
</dd></dl>
<dl class="method">
@@ -269,21 +272,21 @@ b.beep(); <br /></p>
<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
<li><strong>connectionType</strong> (<em>string in {'bt', 'usb'}</em>) – Connection type</li>
<li><strong>serPort</strong> (<em>string in {'/dev/rfcomm1', '/dev/rfcomm2', ...}</em>) – Path to serial port
-(if 'bt')</li>
-<li><strong>beep</strong> (<em>bool</em>) – If true, EV3 beeps if connection has been established</li>
+(necessary if connectionType is 'bt'). <em>[OPTIONAL]</em></li>
+<li><strong>beep</strong> (<em>bool</em>) – If true, EV3 beeps if connection has been established. <em>[OPTIONAL]</em></li>
</ul>
</td>
</tr>
</tbody>
</table>
-<p class="rubric">Examples</p>
+<p class="rubric">Example</p>
<p>% Setup bluetooth connection via com-port 0 <br />
-b = EV3(); <br />
-b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+b = EV3(); % <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); % <br />
% Setup usb connection, beep when connection has been established
-b = EV3(); <br />
-b.connect('usb', 'beep', 'on', ); <br /></p>
-<p>Check connection</p>
+b = EV3(); % <br />
+b.connect('usb', 'beep', 'on', ); % <br /></p>
+<p>See also ISCONNECTED / <a class="reference internal" href="source.html#source.EV3.isConnected" title="source.EV3.isConnected"><code class="xref mat mat-attr docutils literal"><span class="pre">isConnected</span></code></a></p>
</dd></dl>
<dl class="method">
@@ -295,11 +298,10 @@ b.connect('usb', 'beep', 'on', ); <br /></p>
<li>Gets called automatically when EV3-object is destroyed.</li>
</ul>
<p class="rubric">Example</p>
-<p>b = EV3();
-b.connect('bt', 'serPort', '/dev/rfcomm0');
-% do stuff
-b.disconnect();</p>
-<p>Reset motors and sensors before disconnecting</p>
+<p>b = EV3(); % <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); % <br />
+% do stuff <br />
+b.disconnect(); % <br /></p>
</dd></dl>
<dl class="method">
@@ -320,8 +322,8 @@ b.disconnect();</p>
</tbody>
</table>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+<p>b = EV3(); % <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); % <br />
b.playTone(40, 5000, 1000); % Plays tone with 40% volume and 5000Hz for 1
second. <br /></p>
</dd></dl>
@@ -343,26 +345,26 @@ second. <br /></p>
</tbody>
</table>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
-b.setProperties('debug', 'on', 'batteryMode', 'Voltage'); <br />
-% Instead of: b.debug = 'on'; b.batteryMode = 'Voltage'; <br /></p>
-<p>See also EV3.DEBUG, EV3.BATTERYMODE</p>
+<p>b = EV3(); % <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); % <br />
+b.setProperties('debug', 'on', 'batteryMode', 'Voltage'); % <br />
+% Instead of: b.debug = 'on'; b.batteryMode = 'Voltage'; % <br /></p>
+<p>See also EV3.DEBUG, EV3.BATTERYMODE / <a class="reference internal" href="source.html#source.EV3.debug" title="source.EV3.debug"><code class="xref mat mat-attr docutils literal"><span class="pre">debug</span></code></a>, <a class="reference internal" href="source.html#source.EV3.batteryMode" title="source.EV3.batteryMode"><code class="xref mat mat-attr docutils literal"><span class="pre">batteryMode</span></code></a></p>
</dd></dl>
<dl class="method">
<dt id="source.EV3.stopAllMotors">
<code class="descname">stopAllMotors</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.stopAllMotors" title="Permalink to this definition">¶</a></dt>
-<dd><p>Sends a stop-command to all motor-ports</p>
+<dd><p>Sends a stop-command to all motor-ports.</p>
</dd></dl>
<dl class="method">
<dt id="source.EV3.stopTone">
<code class="descname">stopTone</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.stopTone" title="Permalink to this definition">¶</a></dt>
-<dd><p>Stops tone currently played</p>
+<dd><p>Stops tone currently played.</p>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+<p>b = EV3(); % <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); % <br />
b.playTone(10,100,100000000); % Accidentally given wrong tone duration :) <br />
b.stopTone(); % Stops tone immediately. <br /></p>
</dd></dl>
@@ -383,11 +385,11 @@ b.stopTone(); % Stops tone immediately. <br /></p>
</table>
<dl class="docutils">
<dt>Example</dt>
-<dd>b = EV3(); <br />
-b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
-b.playTone(10, 100, 1000); <br />
-pause(0.5); <br />
-b.tonePlayed() -> Outputs 1 to console. <br /></dd>
+<dd>b = EV3(); % <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); % <br />
+b.playTone(10, 100, 1000); % <br />
+pause(0.5); % Small pause is necessary as tone does not start instantaneously <br />
+b.tonePlayed(); % -> Outputs 1 to console. <br /></dd>
</dl>
</dd></dl>
diff --git a/docs/_build/html/Motor.html b/docs/_build/html/Motor.html
index bd3dc306783c821503f95ee445f4ccd116e4f4ce..32b86f1ff907d8583ba74172acb8fe38122417c3 100644
--- a/docs/_build/html/Motor.html
+++ b/docs/_build/html/Motor.html
@@ -156,6 +156,10 @@ instances for each motor port, and you can work with them via the EV3-object.</l
<li>The Motor-class represents motor ports, not individual motors!</li>
<li>If you start a motor with power=0, the internal state will still be set to
'isRunning'</li>
+<li>When an input argument of a method is marked as optional, the argument needs to be
+'announced' by a preceding 2nd argument, which is a string containing the name of the argument.
+For example, Motor.setProperties may be given a power-parameter. The syntax would be as
+follows: <em>brickObject.motorA.setProperties('power', 50);</em></li>
</ul>
<dl class="attribute">
<dt id="source.Motor.power">
@@ -169,7 +173,7 @@ instances for each motor port, and you can work with them via the EV3-object.</l
<dd><p><em>bool</em> – 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
+this point, the Brick internally inputs 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. <em>[WRITABLE]</em></p>
</dd></dl>
@@ -181,7 +185,7 @@ somewhat lower, depending on the load. <em>[WRITABLE]</em></p>
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. <em>[WRITABLE]</em></p>
+until reaching its defined speed. See also <a class="reference internal" href="#source.Motor.limitValue" title="source.Motor.limitValue"><code class="xref mat mat-attr docutils literal"><span class="pre">limitValue</span></code></a>, <a class="reference internal" href="#source.Motor.limitMode" title="source.Motor.limitMode"><code class="xref mat mat-attr docutils literal"><span class="pre">limitMode</span></code></a>. <em>[WRITABLE]</em></p>
</dd></dl>
<dl class="attribute">
@@ -191,7 +195,7 @@ until reaching its defined speed. <em>[WRITABLE]</em></p>
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. <em>[WRITABLE]</em></p>
+until it has stopped. See also <a class="reference internal" href="#source.Motor.limitValue" title="source.Motor.limitValue"><code class="xref mat mat-attr docutils literal"><span class="pre">limitValue</span></code></a>, <a class="reference internal" href="#source.Motor.limitMode" title="source.Motor.limitMode"><code class="xref mat mat-attr docutils literal"><span class="pre">limitMode</span></code></a>. <em>[WRITABLE]</em></p>
</dd></dl>
<dl class="attribute">
@@ -199,13 +203,13 @@ until it has stopped. <em>[WRITABLE]</em></p>
<code class="descname">limitValue</code><a class="headerlink" href="#source.Motor.limitValue" title="Permalink to this definition">¶</a></dt>
<dd><p><em>numeric>=0</em> – Degrees/Time indicating how far/long the motor should run.
Depending on limitMode, the input is interpreted either in degrees or
-milliseconds. <em>[WRITABLE]</em></p>
+milliseconds. See also <a class="reference internal" href="#source.Motor.limitMode" title="source.Motor.limitMode"><code class="xref mat mat-attr docutils literal"><span class="pre">limitMode</span></code></a>. <em>[WRITABLE]</em></p>
</dd></dl>
<dl class="attribute">
<dt id="source.Motor.limitMode">
<code class="descname">limitMode</code><a class="headerlink" href="#source.Motor.limitMode" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>'Tacho'|'Time'</em> – Mode for motor limit. <em>[WRITABLE]</em></p>
+<dd><p><em>'Tacho'|'Time'</em> – Mode for motor limit. See also <a class="reference internal" href="#source.Motor.limitValue" title="source.Motor.limitValue"><code class="xref mat mat-attr docutils literal"><span class="pre">limitValue</span></code></a>. <em>[WRITABLE]</em></p>
</dd></dl>
<dl class="attribute">
@@ -233,14 +237,14 @@ command has been called. <em>[WRITABLE]</em></p>
<dl class="attribute">
<dt id="source.Motor.tachoCount">
<code class="descname">tachoCount</code><a class="headerlink" href="#source.Motor.tachoCount" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric</em> – Current tacho count. <em>[READ-ONLY]</em></p>
+<dd><p><em>numeric</em> – Current tacho count in degrees. <em>[READ-ONLY]</em></p>
</dd></dl>
<dl class="attribute">
<dt id="source.Motor.currentSpeed">
<code class="descname">currentSpeed</code><a class="headerlink" href="#source.Motor.currentSpeed" title="Permalink to this definition">¶</a></dt>
<dd><p><em>numeric</em> – Current speed of motor. If speedRegulation=on this should equal power,
-otherwise it will probably be lower than that. <em>[READ-ONLY]</em></p>
+otherwise it will probably be lower than that. See also <a class="reference internal" href="#source.Motor.speedRegulation" title="source.Motor.speedRegulation"><code class="xref mat mat-attr docutils literal"><span class="pre">speedRegulation</span></code></a>. <em>[READ-ONLY]</em></p>
</dd></dl>
<dl class="attribute">
@@ -253,7 +257,7 @@ otherwise it will probably be lower than that. <em>[READ-ONLY]</em></p>
<dt id="source.Motor.internalReset">
<code class="descname">internalReset</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.internalReset" title="Permalink to this definition">¶</a></dt>
<dd><p>Resets internal tacho count. Use this if motor behaves weird (i.e. not starting at all, or not correctly
-running to limitValue)</p>
+running to limitValue).</p>
<p>The internal tacho count is used for positioning the motor. When the
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
@@ -262,22 +266,22 @@ brakemode is 'Coast', this function is called automatically.</p>
<p class="rubric">Notes</p>
<ul class="simple">
<li>A better name would probably be resetPosition...</li>
-<li>Gets called automatically when starting the motor and the internal tacho</li>
+<li>Gets called automatically when starting the motor and the internal tacho count is > 0</li>
</ul>
-<p>count is > 0</p>
-<p>See also MOTOR.RESETTACHOCOUNT</p>
+<p>See also MOTOR.RESETTACHOCOUNT / <a class="reference internal" href="#source.Motor.resetTachoCount" title="source.Motor.resetTachoCount"><code class="xref mat mat-attr docutils literal"><span class="pre">resetTachoCount</span></code></a></p>
</dd></dl>
<dl class="method">
<dt id="source.Motor.resetTachoCount">
<code class="descname">resetTachoCount</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.resetTachoCount" title="Permalink to this definition">¶</a></dt>
-<dd><p>Resets tachocount</p>
+<dd><p>Resets tachocount.</p>
+<p>See also MOTOR.TACHOCOUNT / <a class="reference internal" href="#source.Motor.tachoCount" title="source.Motor.tachoCount"><code class="xref mat mat-attr docutils literal"><span class="pre">tachoCount</span></code></a></p>
</dd></dl>
<dl class="method">
<dt id="source.Motor.setBrake">
<code class="descname">setBrake</code><span class="sig-paren">(</span><em>motor</em>, <em>brake</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.setBrake" title="Permalink to this definition">¶</a></dt>
-<dd><p>Apply or release brake of motor</p>
+<dd><p>Apply or release brake of motor.</p>
<table class="docutils field-list" frame="void" rules="none">
<col class="field-name" />
<col class="field-body" />
@@ -286,6 +290,12 @@ brakemode is 'Coast', this function is called automatically.</p>
</tr>
</tbody>
</table>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This method does not affect Motor.brakeMode. After the next run, the motor
+will again be stopped as specified in Motor.brakeMode.</li>
+</ul>
+<p>See also MOTOR.BRAKEMODE / <a class="reference internal" href="#source.Motor.brakeMode" title="source.Motor.brakeMode"><code class="xref mat mat-attr docutils literal"><span class="pre">brakeMode</span></code></a></p>
</dd></dl>
<dl class="method">
@@ -297,24 +307,24 @@ brakemode is 'Coast', this function is called automatically.</p>
<col class="field-body" />
<tbody valign="top">
<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
-<li><strong>debug</strong> (<em>bool</em>) – </li>
-<li><strong>smoothStart</strong> (<em>numeric in [0, limitValue]</em>) – </li>
-<li><strong>smoothStop</strong> (<em>numeric in [0, limitValue]</em>) – </li>
-<li><strong>speedRegulation</strong> (<em>bool</em>) – </li>
-<li><strong>brakeMode</strong> (<em>'Coast'|'Brake'</em>) – </li>
-<li><strong>limitMode</strong> (<em>'Time'|'Tacho'</em>) – </li>
-<li><strong>limitValue</strong> (<em>numeric > 0</em>) – </li>
-<li><strong>power</strong> (<em>numeric in [-100,100]</em>) – </li>
-<li><strong>batteryMode</strong> (<em>'Voltage'|'Percentage'</em>) – </li>
+<li><strong>debug</strong> (<em>bool</em>) – <em>[OPTIONAL]</em></li>
+<li><strong>smoothStart</strong> (<em>numeric in [0, limitValue]</em>) – <em>[OPTIONAL]</em></li>
+<li><strong>smoothStop</strong> (<em>numeric in [0, limitValue]</em>) – <em>[OPTIONAL]</em></li>
+<li><strong>speedRegulation</strong> (<em>bool</em>) – <em>[OPTIONAL]</em></li>
+<li><strong>brakeMode</strong> (<em>'Coast'|'Brake'</em>) – <em>[OPTIONAL]</em></li>
+<li><strong>limitMode</strong> (<em>'Time'|'Tacho'</em>) – <em>[OPTIONAL]</em></li>
+<li><strong>limitValue</strong> (<em>numeric > 0</em>) – <em>[OPTIONAL]</em></li>
+<li><strong>power</strong> (<em>numeric in [-100,100]</em>) – <em>[OPTIONAL]</em></li>
+<li><strong>batteryMode</strong> (<em>'Voltage'|'Percentage'</em>) – <em>[OPTIONAL]</em></li>
</ul>
</td>
</tr>
</tbody>
</table>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
-b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on'); <br />
+<p>b = EV3(); % <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); % <br />
+b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on'); % <br />
% Instead of: b.motorA.debug = 'on'; <br />
% b.motorA.power = 50; <br />
% b.motorA.limitValue = 720; <br />
@@ -324,28 +334,26 @@ b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegu
<dl class="method">
<dt id="source.Motor.start">
<code class="descname">start</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.start" title="Permalink to this definition">¶</a></dt>
-<dd><p>Starts the motor</p>
-<p class="rubric">Notes</p>
-<ul class="simple">
-<li>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
-to run the with a tacholimit, it will stop sooner or later than expected,
-or may not even start at all.</li>
-</ul>
-<p>Check connection and if motor is already running</p>
+<dd><p>Starts the motor.</p>
</dd></dl>
<dl class="method">
<dt id="source.Motor.stop">
<code class="descname">stop</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.stop" title="Permalink to this definition">¶</a></dt>
-<dd><p>Stops the motor</p>
+<dd><p>Stops the motor.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>If this motor has been started synced with another one (either as master or
+slave, using Motor.syncedStart), syncedStop() will be called, stopping both
+motors.</li>
+</ul>
+<p>See also MOTOR.START, MOTOR.SYNCEDSTOP / <a class="reference internal" href="#source.Motor.start" title="source.Motor.start"><code class="xref mat mat-meth docutils literal"><span class="pre">start()</span></code></a>, <a class="reference internal" href="#source.Motor.syncedStop" title="source.Motor.syncedStop"><code class="xref mat mat-meth docutils literal"><span class="pre">syncedStop()</span></code></a></p>
</dd></dl>
<dl class="method">
<dt id="source.Motor.syncedStart">
<code class="descname">syncedStart</code><span class="sig-paren">(</span><em>motor</em>, <em>syncMotor</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.syncedStart" title="Permalink to this definition">¶</a></dt>
-<dd><p>Starts this motor synchronized with another</p>
+<dd><p>Starts this motor synchronized with another.</p>
<p>The motor, with which this method is called, acts as a <em>master</em>, meaning that the
synchronized control is done with it und uses its parameters. When syncedStart is
called, the master sets some of the slave's (syncMotor) properties to keep it
@@ -363,7 +371,7 @@ The following parameters will be affected on the slave: <em>power</em>, <em>brak
<li><strong>turnRatio</strong> (<em>numeric in [-200,200]</em>) – Ratio between the two master's and the
slave's motor speed. With values!=0 one motor will be slower than the other
or even turn into the other direction. This can be used for turning car-like
-robots, for example. (Read in Firmware-comments in c_output.c): <br />
+robots, for example. <em>[OPTIONAL]</em> (Read in Firmware-comments in c_output.c): <br />
-> 0 is moving straight forward <br />
-> Negative values turn to the left <br />
-> Positive values turn to the right <br />
@@ -378,46 +386,48 @@ robots, for example. (Read in Firmware-comments in c_output.c): <br />
</table>
<p class="rubric">Notes</p>
<ul class="simple">
-<li>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</li>
+<li>This is a pretty 'heavy' function, as it tests if both motors are
+connected AND aren't running, wasting four packets, keep that in mind.</li>
</ul>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect('usb'); <br />
-m = b.motorA; <br />
-slave = b.motorB; <br />
-m.power = 50; <br />
-m.syncedStart(slave); <br />
+<p>b = EV3(); % <br />
+b.connect('usb'); % <br />
+m = b.motorA; % <br />
+slave = b.motorB; % <br />
+m.power = 50; % <br />
+m.syncedStart(slave); % <br />
% Do stuff <br />
-m.stop(); <br /></p>
+m.stop(); % <br /></p>
+<p>See also MOTOR.STOP, MOTOR.SYNCEDSTOP / <a class="reference internal" href="#source.Motor.stop" title="source.Motor.stop"><code class="xref mat mat-meth docutils literal"><span class="pre">stop()</span></code></a>, <a class="reference internal" href="#source.Motor.syncedStop" title="source.Motor.syncedStop"><code class="xref mat mat-meth docutils literal"><span class="pre">syncedStop()</span></code></a></p>
</dd></dl>
<dl class="method">
<dt id="source.Motor.syncedStop">
<code class="descname">syncedStop</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.syncedStop" title="Permalink to this definition">¶</a></dt>
<dd><p>Stops both motors previously started with syncedStart.</p>
-<p>See also MOTOR.SYNCEDSTART</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This method is called automatically by stop(), if the motors have been
+started using syncedStart, and the regular stop-method has been called afterwards.</li>
+</ul>
+<p>See also MOTOR.SYNCEDSTART, MOTOR.STOP / <a class="reference internal" href="#source.Motor.syncedStart" title="source.Motor.syncedStart"><code class="xref mat mat-meth docutils literal"><span class="pre">syncedStart()</span></code></a>, <a class="reference internal" href="#source.Motor.stop" title="source.Motor.stop"><code class="xref mat mat-meth docutils literal"><span class="pre">stop()</span></code></a></p>
</dd></dl>
<dl class="method">
<dt id="source.Motor.waitFor">
<code class="descname">waitFor</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.waitFor" title="Permalink to this definition">¶</a></dt>
-<dd><p>Stops execution of program as long as motor is running</p>
+<dd><p>Stops execution of program as long as motor is running.</p>
<p class="rubric">Notes</p>
<ul class="simple">
-<li>(OLD)This one's a bit tricky. The opCode OutputReady makes the brick stop sending
+<li>This one's a bit tricky. The opCode which is supposed to be used here, OutputReady,
+makes the brick stop sending
responses until the motor has stopped. For security reasons, in this toolbox
there is an internal timeout for receiving messages from the brick. It raises
an error if a reply takes too long, which would happen in this case. As a
workaround, there is an infinite loop that catches errors from outputReady and
continues then, until outputReady will actually finish without an error.</li>
-<li>(OLD)OutputReady (like OutputTest in isRunning) sometimes doesn't work. If
-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).</li>
-<li>(OLD)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)</li>
+<li>Workaround: Poll isRunning until it is false (No need to check if motor is
+connected as speed correctly returns 0 if it's not)</li>
</ul>
</dd></dl>
diff --git a/docs/_build/html/Sensor.html b/docs/_build/html/Sensor.html
index 0aa3344dd0829bcc1d64ad232cbca5ae06886f06..a22da31f2abfb12d57fd357ce576b87e896155c6 100644
--- a/docs/_build/html/Sensor.html
+++ b/docs/_build/html/Sensor.html
@@ -153,17 +153,16 @@ reading the sensor's type and current value in a specified mode.</p>
<li>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.</li>
<li>The Sensor-class represents sensor ports, not individual sensors!</li>
+<li>When an input argument of a method is marked as optional, the argument needs to be
+'announced' by a preceding 2nd argument, which is a string containing the name of the argument.
+For example, Motor.setProperties may be given a power-parameter. The syntax would be as
+follows: <em>brickObject.motorA.setProperties('power', 50);</em></li>
</ul>
<dl class="attribute">
<dt id="source.Sensor.mode">
<code class="descname">mode</code><a class="headerlink" href="#source.Sensor.mode" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>DeviceMode.{Type}</em> – 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 <em>and</em> 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): <em>[WRITABLE]</em></p>
-<blockquote>
-<div><ul>
+<dd><p><em>DeviceMode.{Type}</em> – Sensor mode in which the value will be read. By default, mode is set to <em>DeviceMode.Default.Undefined</em>. See also <a class="reference internal" href="#source.Sensor.type" title="source.Sensor.type"><code class="xref mat mat-attr docutils literal"><span class="pre">type</span></code></a>. <em>[WRITABLE]</em> <br /> Once a physical sensor is connected to the port <em>and</em> 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):</p>
+<ul>
<li><dl class="first docutils">
<dt>Touch-Sensor:</dt>
<dd><ul class="first last simple">
@@ -303,7 +302,6 @@ sensor type): <em>[WRITABLE]</em></p>
</dl>
</li>
</ul>
-</div></blockquote>
</dd></dl>
<dl class="attribute">
@@ -318,7 +316,7 @@ command has been called. <em>[WRITABLE]</em></p>
<dt id="source.Sensor.value">
<code class="descname">value</code><a class="headerlink" href="#source.Sensor.value" title="Permalink to this definition">¶</a></dt>
<dd><p><em>numeric</em> – Value read from hysical sensor. What the value represents depends on
-sensor.mode. <em>[READ-ONLY]</em></p>
+<a class="reference internal" href="#source.Sensor.mode" title="source.Sensor.mode"><code class="xref mat mat-attr docutils literal"><span class="pre">mode</span></code></a>. <em>[READ-ONLY]</em></p>
</dd></dl>
<dl class="attribute">
@@ -351,7 +349,7 @@ sensor.mode. <em>[READ-ONLY]</em></p>
<dl class="method">
<dt id="source.Sensor.reset">
<code class="descname">reset</code><span class="sig-paren">(</span><em>sensor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Sensor.reset" title="Permalink to this definition">¶</a></dt>
-<dd><p>Resets value on sensor</p>
+<dd><p>Resets sensor value.</p>
<p class="rubric">Notes</p>
<ul class="simple">
<li>This clears ALL the sensors right now, no other Op-Code available... :(</li>
@@ -367,17 +365,17 @@ sensor.mode. <em>[READ-ONLY]</em></p>
<col class="field-body" />
<tbody valign="top">
<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
-<li><strong>debug</strong> (<em>bool</em>) – </li>
-<li><strong>mode</strong> (<em>DeviceMode.{Type}</em>) – </li>
+<li><strong>debug</strong> (<em>bool</em>) – <em>[OPTIONAL]</em></li>
+<li><strong>mode</strong> (<em>DeviceMode.{Type}</em>) – <em>[OPTIONAL]</em></li>
</ul>
</td>
</tr>
</tbody>
</table>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
-b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient); <br />
+<p>b = EV3(); % <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); % <br />
+b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient); % <br />
% Instead of: b.sensor1.debug = 'on'; <br />
% b.sensor1.mode = DeviceMode.Color.Ambient; <br /></p>
</dd></dl>
diff --git a/docs/_build/html/_sources/examples.txt b/docs/_build/html/_sources/examples.txt
index b90c0e1cba794d0c4c0d5679dba4cb0fb9fc4ef6..7023309f75ff7a2f34e0d931f293f138eab99c60 100644
--- a/docs/_build/html/_sources/examples.txt
+++ b/docs/_build/html/_sources/examples.txt
@@ -1,3 +1,17 @@
========
Examples
========
+
+.. code-block:: matlab
+
+ % This example expects a motor at port A and a (random) sensor at port 1
+ b = EV3();
+ b.connect('usb');
+ ma = b.motorA;
+ ma.setProperties('power', 50, 'limitValue', 720);
+ ma.start();
+ % fun
+ ma.waitFor();
+ disp(b.sensor1.value);
+ b.beep();
+ b.delete();
diff --git a/docs/_build/html/_sources/index.txt b/docs/_build/html/_sources/index.txt
index f790a41dd18ca65e4ca9c630800801abb68b8658..a75f04ace42e9750f8f5f8213320a304c343fd57 100644
--- a/docs/_build/html/_sources/index.txt
+++ b/docs/_build/html/_sources/index.txt
@@ -19,7 +19,6 @@ To get started, take a look at the :doc:`installation instructions <readme>` and
This toolbox is being developed at the RWTH Aachen, Germany, as part of the students' lab
'MATLAB meets Mindstorms'. It is the follow-up of the `MATLAB NXT Toolbox`_.
-##image##
.. _MATLAB NXT Toolbox: http://www.mindstorms.rwth-aachen.de/trac/
diff --git a/docs/_build/html/examples.html b/docs/_build/html/examples.html
index 270af7f3b31209bb0a0554123a66af324d8f92fd..b12382444dbc5e559f2b636110bcd7445f787e69 100644
--- a/docs/_build/html/examples.html
+++ b/docs/_build/html/examples.html
@@ -142,6 +142,19 @@
<div class="section" id="examples">
<h1>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h1>
+<div class="highlight-matlab"><div class="highlight"><pre><span></span><span class="c">% This example expects a motor at port A and a (random) sensor at port 1</span>
+<span class="n">b</span> <span class="p">=</span> <span class="n">EV3</span><span class="p">();</span>
+<span class="n">b</span><span class="p">.</span><span class="n">connect</span><span class="p">(</span><span class="s">'usb'</span><span class="p">);</span>
+<span class="n">ma</span> <span class="p">=</span> <span class="n">b</span><span class="p">.</span><span class="n">motorA</span><span class="p">;</span>
+<span class="n">ma</span><span class="p">.</span><span class="n">setProperties</span><span class="p">(</span><span class="s">'power'</span><span class="p">,</span> <span class="mi">50</span><span class="p">,</span> <span class="s">'limitValue'</span><span class="p">,</span> <span class="mi">720</span><span class="p">);</span>
+<span class="n">ma</span><span class="p">.</span><span class="n">start</span><span class="p">();</span>
+<span class="c">% fun</span>
+<span class="n">ma</span><span class="p">.</span><span class="n">waitFor</span><span class="p">();</span>
+<span class="nb">disp</span><span class="p">(</span><span class="n">b</span><span class="p">.</span><span class="n">sensor1</span><span class="p">.</span><span class="n">value</span><span class="p">);</span>
+<span class="n">b</span><span class="p">.</span><span class="n">beep</span><span class="p">();</span>
+<span class="n">b</span><span class="p">.</span><span class="n">delete</span><span class="p">();</span>
+</pre></div>
+</div>
</div>
diff --git a/docs/_build/html/index.html b/docs/_build/html/index.html
index 8fe8515ae9b022c5eadb4599885f16a494cb4af3..392a1f7fb1844dc2b44b4ece7648cd8c12d05788 100644
--- a/docs/_build/html/index.html
+++ b/docs/_build/html/index.html
@@ -151,7 +151,6 @@ these are the classes you will mostly use.</p>
<p>To get started, take a look at the <a class="reference internal" href="readme.html"><span class="doc">installation instructions</span></a> and <a class="reference internal" href="examples.html"><span class="doc">examples</span></a>.</p>
<p>This toolbox is being developed at the RWTH Aachen, Germany, as part of the students’ lab
‘MATLAB meets Mindstorms’. It is the follow-up of the <a class="reference external" href="http://www.mindstorms.rwth-aachen.de/trac/">MATLAB NXT Toolbox</a>.</p>
-<p>##image##</p>
<div class="section" id="contents">
<h2>Contents<a class="headerlink" href="#contents" title="Permalink to this headline">¶</a></h2>
<p>Setting up the toolbox</p>
diff --git a/docs/_build/html/searchindex.js b/docs/_build/html/searchindex.js
index 4a505bd84798362af93e1d3ac5cd3d1a1e732d94..878cbbcafc4f55bbc943a5ad918e960e9018eae6 100644
--- a/docs/_build/html/searchindex.js
+++ b/docs/_build/html/searchindex.js
@@ -1 +1 @@
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Toolbox for controlling Lego Mindstorms EV3","General","EV3"],titleterms:{bluetooth:1,command:0,commandlay:0,communicationinterfac:0,communicationlay:1,content:6,contribut:7,control:6,ev3:[2,6,8],exampl:5,gener:7,installat:7,lego:6,licens:7,matlab:6,mindstorm:6,motor:3,sensor:4,toolbox:6,usb:1}})
\ No newline at end of file
diff --git a/docs/_build/html/source.html b/docs/_build/html/source.html
index 2e5acbc979fbd5a766fc31941b7b374fd45f5847..2a43839969e7b7b44e135e3994ee70b8436ae1e3 100644
--- a/docs/_build/html/source.html
+++ b/docs/_build/html/source.html
@@ -143,53 +143,57 @@ commands to it. An EV3-object creates 4 Motor- and 4 Sensor-objects, one for eac
<ul class="simple">
<li>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.</li>
+<li>When an input argument of a method is marked as optional, the argument needs to be
+‘announced’ by a preceding 2nd argument, which is a string containing the name of the argument.
+For example, Motor.setProperties may be given a power-parameter. The syntax would be as
+follows: <em>brickObject.motorA.setProperties(‘power’, 50);</em></li>
</ul>
<dl class="attribute">
<dt id="source.EV3.motorA">
<code class="descname">motorA</code><a class="headerlink" href="#source.EV3.motorA" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Motor</em> – Motor-object interfacing port A</p>
+<dd><p><em>Motor</em> – Motor-object interfacing port A. See also <a class="reference internal" href="Motor.html#source.Motor" title="source.Motor"><code class="xref mat mat-class docutils literal"><span class="pre">Motor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.motorB">
<code class="descname">motorB</code><a class="headerlink" href="#source.EV3.motorB" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Motor</em> – Motor-object interfacing port B</p>
+<dd><p><em>Motor</em> – Motor-object interfacing port B. See also <a class="reference internal" href="Motor.html#source.Motor" title="source.Motor"><code class="xref mat mat-class docutils literal"><span class="pre">Motor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.motorC">
<code class="descname">motorC</code><a class="headerlink" href="#source.EV3.motorC" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Motor</em> – Motor-object interfacing port C</p>
+<dd><p><em>Motor</em> – Motor-object interfacing port C. See also <a class="reference internal" href="Motor.html#source.Motor" title="source.Motor"><code class="xref mat mat-class docutils literal"><span class="pre">Motor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.motorD">
<code class="descname">motorD</code><a class="headerlink" href="#source.EV3.motorD" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Motor</em> – Motor-object interfacing port D</p>
+<dd><p><em>Motor</em> – Motor-object interfacing port D. See also <a class="reference internal" href="Motor.html#source.Motor" title="source.Motor"><code class="xref mat mat-class docutils literal"><span class="pre">Motor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.sensor1">
<code class="descname">sensor1</code><a class="headerlink" href="#source.EV3.sensor1" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Sensor</em> – Motor-object interfacing port 1</p>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 1. See also <a class="reference internal" href="Sensor.html#source.Sensor" title="source.Sensor"><code class="xref mat mat-class docutils literal"><span class="pre">Sensor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.sensor2">
<code class="descname">sensor2</code><a class="headerlink" href="#source.EV3.sensor2" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Sensor</em> – Motor-object interfacing port 2</p>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 2. See also <a class="reference internal" href="Sensor.html#source.Sensor" title="source.Sensor"><code class="xref mat mat-class docutils literal"><span class="pre">Sensor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.sensor3">
<code class="descname">sensor3</code><a class="headerlink" href="#source.EV3.sensor3" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Sensor</em> – Motor-object interfacing port 3</p>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 3. See also <a class="reference internal" href="Sensor.html#source.Sensor" title="source.Sensor"><code class="xref mat mat-class docutils literal"><span class="pre">Sensor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.sensor4">
<code class="descname">sensor4</code><a class="headerlink" href="#source.EV3.sensor4" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>Sensor</em> – Motor-object interfacing port 4</p>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 4. See also <a class="reference internal" href="Sensor.html#source.Sensor" title="source.Sensor"><code class="xref mat mat-class docutils literal"><span class="pre">Sensor</span></code></a>.</p>
</dd></dl>
<dl class="attribute">
@@ -206,15 +210,13 @@ been thoroughly tested yet, but seems to work on a first glance.</li>
<dl class="attribute">
<dt id="source.EV3.batteryMode">
<code class="descname">batteryMode</code><a class="headerlink" href="#source.EV3.batteryMode" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>string in {‘Percentage’, ‘Voltage’}</em> – Mode for reading battery charge.
-<em>[WRITABLE]</em></p>
+<dd><p><em>string in {‘Percentage’, ‘Voltage’}</em> – Mode for reading battery charge. See also <a class="reference internal" href="#source.EV3.batteryValue" title="source.EV3.batteryValue"><code class="xref mat mat-attr docutils literal"><span class="pre">batteryValue</span></code></a>. <em>[WRITABLE]</em></p>
</dd></dl>
<dl class="attribute">
<dt id="source.EV3.batteryValue">
<code class="descname">batteryValue</code><a class="headerlink" href="#source.EV3.batteryValue" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric</em> – Current battery charge. Depending on batteryMode, the reading
-is either in percentage or voltage. <em>[READ-ONLY]</em></p>
+<dd><p><em>numeric</em> – Current battery charge. Depending on batteryMode, the reading is either in percentage or voltage. See also <a class="reference internal" href="#source.EV3.batteryMode" title="source.EV3.batteryMode"><code class="xref mat mat-attr docutils literal"><span class="pre">batteryMode</span></code></a>. <em>[READ-ONLY]</em></p>
</dd></dl>
<dl class="attribute">
@@ -223,29 +225,30 @@ is either in percentage or voltage. <em>[READ-ONLY]</em></p>
<dd><p><em>bool</em> – True if virtual brick-object is connected to physical one. <em>[READ-ONLY]</em></p>
</dd></dl>
-<p class="rubric">Examples</p>
-<p>b = EV3(); <br />
-b.connect(‘usb’); <br />
-ma = b.motorA; <br />
-ma.setProperties(‘power’, 50, ‘limitValue’, 720); <br />
-ma.start(); <br />
+<p class="rubric">Example</p>
+<p>% This example expects a motor at port A and a (random) sensor at port 1 <br />
+b = EV3(); % <br />
+b.connect(‘usb’); % <br />
+ma = b.motorA; % <br />
+ma.setProperties(‘power’, 50, ‘limitValue’, 720); % <br />
+ma.start(); % <br />
% fun <br />
-b.sensor1.value <br />
-b.waitFor(); <br />
-b.beep(); <br />
-delete b; <br /></p>
+ma.waitFor(); % <br />
+disp(b.sensor1.value); % <br />
+b.beep(); % <br />
+delete b; % <br /></p>
<dl class="method">
<dt id="source.EV3.beep">
<code class="descname">beep</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.beep" title="Permalink to this definition">¶</a></dt>
<dd><p>Plays a ‘beep’-tone on brick.</p>
<p class="rubric">Notes</p>
<ul class="simple">
-<li>This equals playTone(10, 1000, 100) (Wraps the same opCode in comm-layer)</li>
+<li>This equals playTone(10, 1000, 100).</li>
</ul>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); <br />
-b.beep(); <br /></p>
+<p>b = EV3(); % <br />
+b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); % <br />
+b.beep(); % <br /></p>
</dd></dl>
<dl class="method">
@@ -259,21 +262,21 @@ b.beep(); <br /></p>
<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
<li><strong>connectionType</strong> (<em>string in {'bt', 'usb'}</em>) – Connection type</li>
<li><strong>serPort</strong> (<em>string in {'/dev/rfcomm1', '/dev/rfcomm2', ...}</em>) – Path to serial port
-(if ‘bt’)</li>
-<li><strong>beep</strong> (<em>bool</em>) – If true, EV3 beeps if connection has been established</li>
+(necessary if connectionType is ‘bt’). <em>[OPTIONAL]</em></li>
+<li><strong>beep</strong> (<em>bool</em>) – If true, EV3 beeps if connection has been established. <em>[OPTIONAL]</em></li>
</ul>
</td>
</tr>
</tbody>
</table>
-<p class="rubric">Examples</p>
+<p class="rubric">Example</p>
<p>% Setup bluetooth connection via com-port 0 <br />
-b = EV3(); <br />
-b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); <br />
+b = EV3(); % <br />
+b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); % <br />
% Setup usb connection, beep when connection has been established
-b = EV3(); <br />
-b.connect(‘usb’, ‘beep’, ‘on’, ); <br /></p>
-<p>Check connection</p>
+b = EV3(); % <br />
+b.connect(‘usb’, ‘beep’, ‘on’, ); % <br /></p>
+<p>See also ISCONNECTED / <a class="reference internal" href="#source.EV3.isConnected" title="source.EV3.isConnected"><code class="xref mat mat-attr docutils literal"><span class="pre">isConnected</span></code></a></p>
</dd></dl>
<dl class="method">
@@ -285,11 +288,10 @@ b.connect(‘usb’, ‘beep’, ‘on’, ); <br /></p>
<li>Gets called automatically when EV3-object is destroyed.</li>
</ul>
<p class="rubric">Example</p>
-<p>b = EV3();
-b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’);
-% do stuff
-b.disconnect();</p>
-<p>Reset motors and sensors before disconnecting</p>
+<p>b = EV3(); % <br />
+b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); % <br />
+% do stuff <br />
+b.disconnect(); % <br /></p>
</dd></dl>
<dl class="method">
@@ -310,8 +312,8 @@ b.disconnect();</p>
</tbody>
</table>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); <br />
+<p>b = EV3(); % <br />
+b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); % <br />
b.playTone(40, 5000, 1000); % Plays tone with 40% volume and 5000Hz for 1
second. <br /></p>
</dd></dl>
@@ -333,26 +335,26 @@ second. <br /></p>
</tbody>
</table>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); <br />
-b.setProperties(‘debug’, ‘on’, ‘batteryMode’, ‘Voltage’); <br />
-% Instead of: b.debug = ‘on’; b.batteryMode = ‘Voltage’; <br /></p>
-<p>See also EV3.DEBUG, EV3.BATTERYMODE</p>
+<p>b = EV3(); % <br />
+b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); % <br />
+b.setProperties(‘debug’, ‘on’, ‘batteryMode’, ‘Voltage’); % <br />
+% Instead of: b.debug = ‘on’; b.batteryMode = ‘Voltage’; % <br /></p>
+<p>See also EV3.DEBUG, EV3.BATTERYMODE / <a class="reference internal" href="#source.EV3.debug" title="source.EV3.debug"><code class="xref mat mat-attr docutils literal"><span class="pre">debug</span></code></a>, <a class="reference internal" href="#source.EV3.batteryMode" title="source.EV3.batteryMode"><code class="xref mat mat-attr docutils literal"><span class="pre">batteryMode</span></code></a></p>
</dd></dl>
<dl class="method">
<dt id="source.EV3.stopAllMotors">
<code class="descname">stopAllMotors</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.stopAllMotors" title="Permalink to this definition">¶</a></dt>
-<dd><p>Sends a stop-command to all motor-ports</p>
+<dd><p>Sends a stop-command to all motor-ports.</p>
</dd></dl>
<dl class="method">
<dt id="source.EV3.stopTone">
<code class="descname">stopTone</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.stopTone" title="Permalink to this definition">¶</a></dt>
-<dd><p>Stops tone currently played</p>
+<dd><p>Stops tone currently played.</p>
<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); <br />
+<p>b = EV3(); % <br />
+b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); % <br />
b.playTone(10,100,100000000); % Accidentally given wrong tone duration :) <br />
b.stopTone(); % Stops tone immediately. <br /></p>
</dd></dl>
@@ -373,11 +375,11 @@ b.stopTone(); % Stops tone immediately. <br /></p>
</table>
<dl class="docutils">
<dt>Example</dt>
-<dd>b = EV3(); <br />
-b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); <br />
-b.playTone(10, 100, 1000); <br />
-pause(0.5); <br />
-b.tonePlayed() -> Outputs 1 to console. <br /></dd>
+<dd>b = EV3(); % <br />
+b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); % <br />
+b.playTone(10, 100, 1000); % <br />
+pause(0.5); % Small pause is necessary as tone does not start instantaneously <br />
+b.tonePlayed(); % -> Outputs 1 to console. <br /></dd>
</dl>
</dd></dl>
diff --git a/docs/_build/latex/Makefile b/docs/_build/latex/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..d748006ccff3a3d251428d6e3398c6816f6511d2
--- /dev/null
+++ b/docs/_build/latex/Makefile
@@ -0,0 +1,78 @@
+# Makefile for Sphinx LaTeX output
+
+ALLDOCS = $(basename $(wildcard *.tex))
+ALLPDF = $(addsuffix .pdf,$(ALLDOCS))
+ALLDVI = $(addsuffix .dvi,$(ALLDOCS))
+
+# Prefix for archive names
+ARCHIVEPRREFIX =
+# Additional LaTeX options
+LATEXOPTS =
+# format: pdf or dvi
+FMT = pdf
+
+LATEX = latex
+PDFLATEX = pdflatex
+MAKEINDEX = makeindex
+
+all: $(ALLPDF)
+all-pdf: $(ALLPDF)
+all-dvi: $(ALLDVI)
+all-ps: all-dvi
+ for f in *.dvi; do dvips $$f; done
+
+all-pdf-ja:
+ for f in *.pdf *.png *.gif *.jpg *.jpeg; do extractbb $$f; done
+ for f in *.tex; do platex -kanji=utf8 $(LATEXOPTS) $$f; done
+ for f in *.tex; do platex -kanji=utf8 $(LATEXOPTS) $$f; done
+ for f in *.tex; do platex -kanji=utf8 $(LATEXOPTS) $$f; done
+ -for f in *.idx; do mendex -U -f -d "`basename $$f .idx`.dic" -s python.ist $$f; done
+ for f in *.tex; do platex -kanji=utf8 $(LATEXOPTS) $$f; done
+ for f in *.tex; do platex -kanji=utf8 $(LATEXOPTS) $$f; done
+ for f in *.dvi; do dvipdfmx $$f; done
+
+zip: all-$(FMT)
+ mkdir $(ARCHIVEPREFIX)docs-$(FMT)
+ cp $(ALLPDF) $(ARCHIVEPREFIX)docs-$(FMT)
+ zip -q -r -9 $(ARCHIVEPREFIX)docs-$(FMT).zip $(ARCHIVEPREFIX)docs-$(FMT)
+ rm -r $(ARCHIVEPREFIX)docs-$(FMT)
+
+tar: all-$(FMT)
+ mkdir $(ARCHIVEPREFIX)docs-$(FMT)
+ cp $(ALLPDF) $(ARCHIVEPREFIX)docs-$(FMT)
+ tar cf $(ARCHIVEPREFIX)docs-$(FMT).tar $(ARCHIVEPREFIX)docs-$(FMT)
+ rm -r $(ARCHIVEPREFIX)docs-$(FMT)
+
+gz: tar
+ gzip -9 < $(ARCHIVEPREFIX)docs-$(FMT).tar > $(ARCHIVEPREFIX)docs-$(FMT).tar.gz
+
+bz2: tar
+ bzip2 -9 -k $(ARCHIVEPREFIX)docs-$(FMT).tar
+
+xz: tar
+ xz -9 -k $(ARCHIVEPREFIX)docs-$(FMT).tar
+
+# The number of LaTeX runs is quite conservative, but I don't expect it
+# to get run often, so the little extra time won't hurt.
+%.dvi: %.tex
+ $(LATEX) $(LATEXOPTS) '$<'
+ $(LATEX) $(LATEXOPTS) '$<'
+ $(LATEX) $(LATEXOPTS) '$<'
+ -$(MAKEINDEX) -s python.ist '$(basename $<).idx'
+ $(LATEX) $(LATEXOPTS) '$<'
+ $(LATEX) $(LATEXOPTS) '$<'
+
+%.pdf: %.tex
+ $(PDFLATEX) $(LATEXOPTS) '$<'
+ $(PDFLATEX) $(LATEXOPTS) '$<'
+ $(PDFLATEX) $(LATEXOPTS) '$<'
+ -$(MAKEINDEX) -s python.ist '$(basename $<).idx'
+ $(PDFLATEX) $(LATEXOPTS) '$<'
+ $(PDFLATEX) $(LATEXOPTS) '$<'
+
+clean:
+ rm -f *.log *.ind *.aux *.toc *.syn *.idx *.out *.ilg *.pla *.ps *.tar *.tar.gz *.tar.bz2 *.tar.xz $(ALLPDF) $(ALLDVI)
+
+.PHONY: all all-pdf all-dvi all-ps clean zip tar gz bz2 xz
+.PHONY: all-pdf-ja
+
diff --git a/docs/_build/latex/MindstormsEV3Toolbox.aux b/docs/_build/latex/MindstormsEV3Toolbox.aux
new file mode 100644
index 0000000000000000000000000000000000000000..767dbc5a5ce759ea0f68f8deb5188b2ba65a08f3
--- /dev/null
+++ b/docs/_build/latex/MindstormsEV3Toolbox.aux
@@ -0,0 +1,143 @@
+\relax
+\providecommand\hyper@newdestlabel[2]{}
+\providecommand\HyperFirstAtBeginDocument{\AtBeginDocument}
+\HyperFirstAtBeginDocument{\ifx\hyper@anchor\@undefined
+\global\let\oldcontentsline\contentsline
+\gdef\contentsline#1#2#3#4{\oldcontentsline{#1}{#2}{#3}}
+\global\let\oldnewlabel\newlabel
+\gdef\newlabel#1#2{\newlabelxx{#1}#2}
+\gdef\newlabelxx#1#2#3#4#5#6{\oldnewlabel{#1}{{#2}{#3}}}
+\AtEndDocument{\ifx\hyper@anchor\@undefined
+\let\contentsline\oldcontentsline
+\let\newlabel\oldnewlabel
+\fi}
+\fi}
+\global\let\hyper@last\relax
+\gdef\HyperFirstAtBeginDocument#1{#1}
+\providecommand\HyField@AuxAddToFields[1]{}
+\providecommand\HyField@AuxAddToCoFields[2]{}
+\select@language{english}
+\@writefile{toc}{\select@language{english}}
+\@writefile{lof}{\select@language{english}}
+\@writefile{lot}{\select@language{english}}
+\newlabel{index::doc}{{}{1}{}{section*.2}{}}
+\@writefile{toc}{\contentsline {chapter}{\numberline {1}Contents}{3}{chapter.1}}
+\@writefile{lof}{\addvspace {10\p@ }}
+\@writefile{lot}{\addvspace {10\p@ }}
+\@writefile{loliteral-block}{\addvspace {10\p@ }}
+\newlabel{index:matlab-nxt-toolbox}{{1}{3}{Contents}{chapter.1}{}}
+\newlabel{index:contents}{{1}{3}{Contents}{chapter.1}{}}
+\newlabel{index:matlab-toolbox-for-controlling-lego-mindstorms-ev3}{{1}{3}{Contents}{chapter.1}{}}
+\@writefile{toc}{\contentsline {section}{\numberline {1.1}General}{3}{section.1.1}}
+\newlabel{readme::doc}{{1.1}{3}{General}{section.1.1}{}}
+\newlabel{readme:general}{{1.1}{3}{General}{section.1.1}{}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {1.1.1}Installation}{3}{subsection.1.1.1}}
+\newlabel{readme:installation}{{1.1.1}{3}{Installation}{subsection.1.1.1}{}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {1.1.2}Contribution}{3}{subsection.1.1.2}}
+\newlabel{readme:contribution}{{1.1.2}{3}{Contribution}{subsection.1.1.2}{}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {1.1.3}Licenses}{3}{subsection.1.1.3}}
+\newlabel{readme:licenses}{{1.1.3}{3}{Licenses}{subsection.1.1.3}{}}
+\@writefile{toc}{\contentsline {section}{\numberline {1.2}Examples}{3}{section.1.2}}
+\newlabel{examples::doc}{{1.2}{3}{Examples}{section.1.2}{}}
+\newlabel{examples:examples}{{1.2}{3}{Examples}{section.1.2}{}}
+\newlabel{EV3:module-source}{{1.2}{3}{Examples}{section*.3}{}}
+\@writefile{toc}{\contentsline {section}{\numberline {1.3}EV3}{3}{section.1.3}}
+\newlabel{EV3:ev3}{{1.3}{3}{EV3}{section.1.3}{}}
+\newlabel{EV3::doc}{{1.3}{3}{EV3}{section.1.3}{}}
+\newlabel{EV3:source.EV3}{{1.3}{3}{EV3}{section*.4}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{4}{paragraph*.5}}
+\newlabel{EV3:source.EV3.motorA}{{1.3}{4}{Notes}{section*.6}{}}
+\newlabel{EV3:source.EV3.motorB}{{1.3}{4}{Notes}{section*.7}{}}
+\newlabel{EV3:source.EV3.motorC}{{1.3}{4}{Notes}{section*.8}{}}
+\newlabel{EV3:source.EV3.motorD}{{1.3}{4}{Notes}{section*.9}{}}
+\newlabel{EV3:source.EV3.sensor1}{{1.3}{4}{Notes}{section*.10}{}}
+\newlabel{EV3:source.EV3.sensor2}{{1.3}{4}{Notes}{section*.11}{}}
+\newlabel{EV3:source.EV3.sensor3}{{1.3}{4}{Notes}{section*.12}{}}
+\newlabel{EV3:source.EV3.sensor4}{{1.3}{4}{Notes}{section*.13}{}}
+\newlabel{EV3:source.EV3.debug}{{1.3}{4}{Notes}{section*.14}{}}
+\newlabel{EV3:source.EV3.batteryMode}{{1.3}{4}{Notes}{section*.15}{}}
+\newlabel{EV3:source.EV3.batteryValue}{{1.3}{4}{Notes}{section*.16}{}}
+\newlabel{EV3:source.EV3.isConnected}{{1.3}{4}{Notes}{section*.17}{}}
+\@writefile{toc}{\contentsline {paragraph}{Example}{4}{paragraph*.18}}
+\newlabel{EV3:source.EV3.beep}{{1.3}{4}{Example}{section*.19}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{5}{paragraph*.20}}
+\@writefile{toc}{\contentsline {paragraph}{Example}{5}{paragraph*.21}}
+\newlabel{EV3:source.EV3.connect}{{1.3}{5}{Example}{section*.22}{}}
+\@writefile{toc}{\contentsline {paragraph}{Example}{5}{paragraph*.23}}
+\newlabel{EV3:source.EV3.disconnect}{{1.3}{5}{Example}{section*.24}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{5}{paragraph*.25}}
+\@writefile{toc}{\contentsline {paragraph}{Example}{5}{paragraph*.26}}
+\newlabel{EV3:source.EV3.playTone}{{1.3}{5}{Example}{section*.27}{}}
+\@writefile{toc}{\contentsline {paragraph}{Example}{6}{paragraph*.28}}
+\newlabel{EV3:source.EV3.setProperties}{{1.3}{6}{Example}{section*.29}{}}
+\@writefile{toc}{\contentsline {paragraph}{Example}{6}{paragraph*.30}}
+\newlabel{EV3:source.EV3.stopAllMotors}{{1.3}{6}{Example}{section*.31}{}}
+\newlabel{EV3:source.EV3.stopTone}{{1.3}{6}{Example}{section*.32}{}}
+\@writefile{toc}{\contentsline {paragraph}{Example}{6}{paragraph*.33}}
+\newlabel{EV3:source.EV3.tonePlayed}{{1.3}{6}{Example}{section*.34}{}}
+\newlabel{Motor:module-source}{{1.3}{6}{EV3}{section*.35}{}}
+\@writefile{toc}{\contentsline {section}{\numberline {1.4}Motor}{6}{section.1.4}}
+\newlabel{Motor::doc}{{1.4}{6}{Motor}{section.1.4}{}}
+\newlabel{Motor:motor}{{1.4}{6}{Motor}{section.1.4}{}}
+\newlabel{Motor:source.Motor}{{1.4}{6}{Motor}{section*.36}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{7}{paragraph*.37}}
+\newlabel{Motor:source.Motor.power}{{1.4}{7}{Notes}{section*.38}{}}
+\newlabel{Motor:source.Motor.speedRegulation}{{1.4}{7}{Notes}{section*.39}{}}
+\newlabel{Motor:source.Motor.smoothStart}{{1.4}{7}{Notes}{section*.40}{}}
+\newlabel{Motor:source.Motor.smoothStop}{{1.4}{7}{Notes}{section*.41}{}}
+\newlabel{Motor:source.Motor.limitValue}{{1.4}{7}{Notes}{section*.42}{}}
+\newlabel{Motor:source.Motor.limitMode}{{1.4}{7}{Notes}{section*.43}{}}
+\newlabel{Motor:source.Motor.brakeMode}{{1.4}{7}{Notes}{section*.44}{}}
+\newlabel{Motor:source.Motor.debug}{{1.4}{7}{Notes}{section*.45}{}}
+\newlabel{Motor:source.Motor.isRunning}{{1.4}{7}{Notes}{section*.46}{}}
+\newlabel{Motor:source.Motor.tachoCount}{{1.4}{7}{Notes}{section*.47}{}}
+\newlabel{Motor:source.Motor.currentSpeed}{{1.4}{7}{Notes}{section*.48}{}}
+\newlabel{Motor:source.Motor.type}{{1.4}{7}{Notes}{section*.49}{}}
+\newlabel{Motor:source.Motor.internalReset}{{1.4}{8}{Notes}{section*.50}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{8}{paragraph*.51}}
+\newlabel{Motor:source.Motor.resetTachoCount}{{1.4}{8}{Notes}{section*.52}{}}
+\newlabel{Motor:source.Motor.setBrake}{{1.4}{8}{Notes}{section*.53}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{8}{paragraph*.54}}
+\newlabel{Motor:source.Motor.setProperties}{{1.4}{8}{Notes}{section*.55}{}}
+\@writefile{toc}{\contentsline {paragraph}{Example}{9}{paragraph*.56}}
+\newlabel{Motor:source.Motor.start}{{1.4}{9}{Notes}{section*.57}{}}
+\newlabel{Motor:source.Motor.stop}{{1.4}{9}{Notes}{section*.58}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{9}{paragraph*.59}}
+\newlabel{Motor:source.Motor.syncedStart}{{1.4}{9}{Notes}{section*.60}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{9}{paragraph*.61}}
+\@writefile{toc}{\contentsline {paragraph}{Example}{9}{paragraph*.62}}
+\newlabel{Motor:source.Motor.syncedStop}{{1.4}{9}{Notes}{section*.63}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{10}{paragraph*.64}}
+\newlabel{Motor:source.Motor.waitFor}{{1.4}{10}{Notes}{section*.65}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{10}{paragraph*.66}}
+\newlabel{Sensor:module-source}{{1.4}{10}{Motor}{section*.67}{}}
+\@writefile{toc}{\contentsline {section}{\numberline {1.5}Sensor}{10}{section.1.5}}
+\newlabel{Sensor:sensor}{{1.5}{10}{Sensor}{section.1.5}{}}
+\newlabel{Sensor::doc}{{1.5}{10}{Sensor}{section.1.5}{}}
+\newlabel{Sensor:source.Sensor}{{1.5}{10}{Sensor}{section*.68}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{10}{paragraph*.69}}
+\newlabel{Sensor:source.Sensor.mode}{{1.5}{10}{Notes}{section*.70}{}}
+\newlabel{Sensor:source.Sensor.debug}{{1.5}{12}{Notes}{section*.71}{}}
+\newlabel{Sensor:source.Sensor.value}{{1.5}{12}{Notes}{section*.72}{}}
+\newlabel{Sensor:source.Sensor.type}{{1.5}{12}{Notes}{section*.73}{}}
+\newlabel{Sensor:source.Sensor.reset}{{1.5}{13}{Notes}{section*.74}{}}
+\@writefile{toc}{\contentsline {paragraph}{Notes}{13}{paragraph*.75}}
+\newlabel{Sensor:source.Sensor.setProperties}{{1.5}{13}{Notes}{section*.76}{}}
+\@writefile{toc}{\contentsline {paragraph}{Example}{13}{paragraph*.77}}
+\newlabel{CommandLayer:module-source}{{1.5}{13}{Sensor}{section*.78}{}}
+\@writefile{toc}{\contentsline {section}{\numberline {1.6}CommandLayer}{13}{section.1.6}}
+\newlabel{CommandLayer:commandlayer}{{1.6}{13}{CommandLayer}{section.1.6}{}}
+\newlabel{CommandLayer::doc}{{1.6}{13}{CommandLayer}{section.1.6}{}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {1.6.1}Command}{13}{subsection.1.6.1}}
+\newlabel{CommandLayer:command}{{1.6.1}{13}{Command}{subsection.1.6.1}{}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {1.6.2}CommunicationInterface}{13}{subsection.1.6.2}}
+\newlabel{CommandLayer:communicationinterface}{{1.6.2}{13}{CommunicationInterface}{subsection.1.6.2}{}}
+\newlabel{CommunicationLayer:module-source}{{1.6.2}{13}{CommunicationInterface}{section*.79}{}}
+\@writefile{toc}{\contentsline {section}{\numberline {1.7}CommunicationLayer}{13}{section.1.7}}
+\newlabel{CommunicationLayer:communicationlayer}{{1.7}{13}{CommunicationLayer}{section.1.7}{}}
+\newlabel{CommunicationLayer::doc}{{1.7}{13}{CommunicationLayer}{section.1.7}{}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {1.7.1}USB}{13}{subsection.1.7.1}}
+\newlabel{CommunicationLayer:usb}{{1.7.1}{13}{USB}{subsection.1.7.1}{}}
+\@writefile{toc}{\contentsline {subsection}{\numberline {1.7.2}Bluetooth}{13}{subsection.1.7.2}}
+\newlabel{CommunicationLayer:bluetooth}{{1.7.2}{13}{Bluetooth}{subsection.1.7.2}{}}
+\@writefile{toc}{\contentsline {chapter}{Index}{15}{section*.80}}
diff --git a/docs/_build/latex/MindstormsEV3Toolbox.idx b/docs/_build/latex/MindstormsEV3Toolbox.idx
new file mode 100644
index 0000000000000000000000000000000000000000..9dbeb0934d10efd95da254201cc3eec0f9a75951
--- /dev/null
+++ b/docs/_build/latex/MindstormsEV3Toolbox.idx
@@ -0,0 +1,55 @@
+\indexentry{source (module)|hyperpage}{3}
+\indexentry{EV3 (class in source)|hyperpage}{3}
+\indexentry{motorA (source.EV3 attribute)|hyperpage}{4}
+\indexentry{motorB (source.EV3 attribute)|hyperpage}{4}
+\indexentry{motorC (source.EV3 attribute)|hyperpage}{4}
+\indexentry{motorD (source.EV3 attribute)|hyperpage}{4}
+\indexentry{sensor1 (source.EV3 attribute)|hyperpage}{4}
+\indexentry{sensor2 (source.EV3 attribute)|hyperpage}{4}
+\indexentry{sensor3 (source.EV3 attribute)|hyperpage}{4}
+\indexentry{sensor4 (source.EV3 attribute)|hyperpage}{4}
+\indexentry{debug (source.EV3 attribute)|hyperpage}{4}
+\indexentry{batteryMode (source.EV3 attribute)|hyperpage}{4}
+\indexentry{batteryValue (source.EV3 attribute)|hyperpage}{4}
+\indexentry{isConnected (source.EV3 attribute)|hyperpage}{4}
+\indexentry{beep() (source.EV3 method)|hyperpage}{4}
+\indexentry{connect() (source.EV3 method)|hyperpage}{5}
+\indexentry{disconnect() (source.EV3 method)|hyperpage}{5}
+\indexentry{playTone() (source.EV3 method)|hyperpage}{5}
+\indexentry{setProperties() (source.EV3 method)|hyperpage}{6}
+\indexentry{stopAllMotors() (source.EV3 method)|hyperpage}{6}
+\indexentry{stopTone() (source.EV3 method)|hyperpage}{6}
+\indexentry{tonePlayed() (source.EV3 method)|hyperpage}{6}
+\indexentry{source (module)|hyperpage}{6}
+\indexentry{Motor (class in source)|hyperpage}{6}
+\indexentry{power (source.Motor attribute)|hyperpage}{7}
+\indexentry{speedRegulation (source.Motor attribute)|hyperpage}{7}
+\indexentry{smoothStart (source.Motor attribute)|hyperpage}{7}
+\indexentry{smoothStop (source.Motor attribute)|hyperpage}{7}
+\indexentry{limitValue (source.Motor attribute)|hyperpage}{7}
+\indexentry{limitMode (source.Motor attribute)|hyperpage}{7}
+\indexentry{brakeMode (source.Motor attribute)|hyperpage}{7}
+\indexentry{debug (source.Motor attribute)|hyperpage}{7}
+\indexentry{isRunning (source.Motor attribute)|hyperpage}{7}
+\indexentry{tachoCount (source.Motor attribute)|hyperpage}{7}
+\indexentry{currentSpeed (source.Motor attribute)|hyperpage}{7}
+\indexentry{type (source.Motor attribute)|hyperpage}{7}
+\indexentry{internalReset() (source.Motor method)|hyperpage}{8}
+\indexentry{resetTachoCount() (source.Motor method)|hyperpage}{8}
+\indexentry{setBrake() (source.Motor method)|hyperpage}{8}
+\indexentry{setProperties() (source.Motor method)|hyperpage}{8}
+\indexentry{start() (source.Motor method)|hyperpage}{9}
+\indexentry{stop() (source.Motor method)|hyperpage}{9}
+\indexentry{syncedStart() (source.Motor method)|hyperpage}{9}
+\indexentry{syncedStop() (source.Motor method)|hyperpage}{9}
+\indexentry{waitFor() (source.Motor method)|hyperpage}{10}
+\indexentry{source (module)|hyperpage}{10}
+\indexentry{Sensor (class in source)|hyperpage}{10}
+\indexentry{mode (source.Sensor attribute)|hyperpage}{10}
+\indexentry{debug (source.Sensor attribute)|hyperpage}{12}
+\indexentry{value (source.Sensor attribute)|hyperpage}{12}
+\indexentry{type (source.Sensor attribute)|hyperpage}{12}
+\indexentry{reset() (source.Sensor method)|hyperpage}{13}
+\indexentry{setProperties() (source.Sensor method)|hyperpage}{13}
+\indexentry{source (module)|hyperpage}{13}
+\indexentry{source (module)|hyperpage}{13}
diff --git a/docs/_build/latex/MindstormsEV3Toolbox.ilg b/docs/_build/latex/MindstormsEV3Toolbox.ilg
new file mode 100644
index 0000000000000000000000000000000000000000..71dbe03a91a3d1ce8f630d9dd105aa283353952f
--- /dev/null
+++ b/docs/_build/latex/MindstormsEV3Toolbox.ilg
@@ -0,0 +1,7 @@
+This is makeindex, version 2.15 [TeX Live 2013] (kpathsea + Thai support).
+Scanning style file ./python.ist......done (6 attributes redefined, 0 ignored).
+Scanning input file MindstormsEV3Toolbox.idx....done (55 entries accepted, 0 rejected).
+Sorting entries....done (342 comparisons).
+Generating output file MindstormsEV3Toolbox.ind....done (93 lines written, 0 warnings).
+Output written in MindstormsEV3Toolbox.ind.
+Transcript written in MindstormsEV3Toolbox.ilg.
diff --git a/docs/_build/latex/MindstormsEV3Toolbox.ind b/docs/_build/latex/MindstormsEV3Toolbox.ind
new file mode 100644
index 0000000000000000000000000000000000000000..e261917e2663ce88ac64af6d6488c42d689ddddd
--- /dev/null
+++ b/docs/_build/latex/MindstormsEV3Toolbox.ind
@@ -0,0 +1,93 @@
+\begin{theindex}
+\def\bigletter#1{{\Large\sffamily#1}\nopagebreak\vspace{1mm}}
+
+ \bigletter B
+ \item batteryMode (source.EV3 attribute), \hyperpage{4}
+ \item batteryValue (source.EV3 attribute), \hyperpage{4}
+ \item beep() (source.EV3 method), \hyperpage{4}
+ \item brakeMode (source.Motor attribute), \hyperpage{7}
+
+ \indexspace
+ \bigletter C
+ \item connect() (source.EV3 method), \hyperpage{5}
+ \item currentSpeed (source.Motor attribute), \hyperpage{7}
+
+ \indexspace
+ \bigletter D
+ \item debug (source.EV3 attribute), \hyperpage{4}
+ \item debug (source.Motor attribute), \hyperpage{7}
+ \item debug (source.Sensor attribute), \hyperpage{12}
+ \item disconnect() (source.EV3 method), \hyperpage{5}
+
+ \indexspace
+ \bigletter E
+ \item EV3 (class in source), \hyperpage{3}
+
+ \indexspace
+ \bigletter I
+ \item internalReset() (source.Motor method), \hyperpage{8}
+ \item isConnected (source.EV3 attribute), \hyperpage{4}
+ \item isRunning (source.Motor attribute), \hyperpage{7}
+
+ \indexspace
+ \bigletter L
+ \item limitMode (source.Motor attribute), \hyperpage{7}
+ \item limitValue (source.Motor attribute), \hyperpage{7}
+
+ \indexspace
+ \bigletter M
+ \item mode (source.Sensor attribute), \hyperpage{10}
+ \item Motor (class in source), \hyperpage{6}
+ \item motorA (source.EV3 attribute), \hyperpage{4}
+ \item motorB (source.EV3 attribute), \hyperpage{4}
+ \item motorC (source.EV3 attribute), \hyperpage{4}
+ \item motorD (source.EV3 attribute), \hyperpage{4}
+
+ \indexspace
+ \bigletter P
+ \item playTone() (source.EV3 method), \hyperpage{5}
+ \item power (source.Motor attribute), \hyperpage{7}
+
+ \indexspace
+ \bigletter R
+ \item reset() (source.Sensor method), \hyperpage{13}
+ \item resetTachoCount() (source.Motor method), \hyperpage{8}
+
+ \indexspace
+ \bigletter S
+ \item Sensor (class in source), \hyperpage{10}
+ \item sensor1 (source.EV3 attribute), \hyperpage{4}
+ \item sensor2 (source.EV3 attribute), \hyperpage{4}
+ \item sensor3 (source.EV3 attribute), \hyperpage{4}
+ \item sensor4 (source.EV3 attribute), \hyperpage{4}
+ \item setBrake() (source.Motor method), \hyperpage{8}
+ \item setProperties() (source.EV3 method), \hyperpage{6}
+ \item setProperties() (source.Motor method), \hyperpage{8}
+ \item setProperties() (source.Sensor method), \hyperpage{13}
+ \item smoothStart (source.Motor attribute), \hyperpage{7}
+ \item smoothStop (source.Motor attribute), \hyperpage{7}
+ \item source (module), \hyperpage{3}, \hyperpage{6}, \hyperpage{10}, \hyperpage{13}
+ \item speedRegulation (source.Motor attribute), \hyperpage{7}
+ \item start() (source.Motor method), \hyperpage{9}
+ \item stop() (source.Motor method), \hyperpage{9}
+ \item stopAllMotors() (source.EV3 method), \hyperpage{6}
+ \item stopTone() (source.EV3 method), \hyperpage{6}
+ \item syncedStart() (source.Motor method), \hyperpage{9}
+ \item syncedStop() (source.Motor method), \hyperpage{9}
+
+ \indexspace
+ \bigletter T
+ \item tachoCount (source.Motor attribute), \hyperpage{7}
+ \item tonePlayed() (source.EV3 method), \hyperpage{6}
+ \item type (source.Motor attribute), \hyperpage{7}
+ \item type (source.Sensor attribute), \hyperpage{12}
+
+ \indexspace
+ \bigletter V
+ \item value (source.Sensor attribute), \hyperpage{12}
+
+ \indexspace
+ \bigletter W
+ \item waitFor() (source.Motor method), \hyperpage{10}
+
+\end{theindex}
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+
+\ifPDFTeX
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+\usepackage{cmap}
+\usepackage[T1]{fontenc}
+\usepackage{amsmath,amssymb,amstext}
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+\usepackage{times}
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+
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+\title{Mindstorms EV3 Toolbox Documentation}
+\date{Feb 23, 2017}
+\release{v0.4-rc.10}
+\author{LfB - RWTH Aachen}
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+
+\def\PYGZbs{\char`\\}
+\def\PYGZus{\char`\_}
+\def\PYGZob{\char`\{}
+\def\PYGZcb{\char`\}}
+\def\PYGZca{\char`\^}
+\def\PYGZam{\char`\&}
+\def\PYGZlt{\char`\<}
+\def\PYGZgt{\char`\>}
+\def\PYGZsh{\char`\#}
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+\def\PYGZdl{\char`\$}
+\def\PYGZhy{\char`\-}
+\def\PYGZsq{\char`\'}
+\def\PYGZdq{\char`\"}
+\def\PYGZti{\char`\~}
+% for compatibility with earlier versions
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+\renewcommand\PYGZsq{\textquotesingle}
+
+\begin{document}
+
+\maketitle
+\tableofcontents
+\phantomsection\label{index::doc}
+
+
+This MATLAB toolbox was designed to abstract and simplify controlling Lego Mindstorms
+EV3 robots. Via Bluetooth or USB you can read sensor values or control
+your robots' motors in an intuitive way. On a low level (the {\hyperref[CommunicationLayer::doc]{\sphinxcrossref{\DUrole{doc}{Communication
+layer}}}}) you are able to send various commands directly to the brick, while on a high level,
+several classes abstract this behaviour for you. If you want to easily access your EV3 robot,
+these are the classes you will mostly use.
+
+To get started, take a look at the {\hyperref[readme::doc]{\sphinxcrossref{\DUrole{doc}{installation instructions}}}} and {\hyperref[examples::doc]{\sphinxcrossref{\DUrole{doc}{examples}}}}.
+
+This toolbox is being developed at the RWTH Aachen, Germany, as part of the students' lab
+`MATLAB meets Mindstorms'. It is the follow-up of the \href{http://www.mindstorms.rwth-aachen.de/trac/}{MATLAB NXT Toolbox}.
+
+
+\chapter{Contents}
+\label{index:matlab-nxt-toolbox}\label{index:contents}\label{index:matlab-toolbox-for-controlling-lego-mindstorms-ev3}
+Setting up the toolbox
+
+
+\section{General}
+\label{readme::doc}\label{readme:general}
+
+\subsection{Installation}
+\label{readme:installation}
+
+\subsection{Contribution}
+\label{readme:contribution}
+
+\subsection{Licenses}
+\label{readme:licenses}
+
+\section{Examples}
+\label{examples::doc}\label{examples:examples}
+\begin{Verbatim}[commandchars=\\\{\}]
+\PYG{c}{\PYGZpc{} This example expects a motor at port A and a (random) sensor at port 1}
+\PYG{n}{b} \PYG{p}{=} \PYG{n}{EV3}\PYG{p}{(}\PYG{p}{)}\PYG{p}{;}
+\PYG{n}{b}\PYG{p}{.}\PYG{n}{connect}\PYG{p}{(}\PYG{l+s}{\PYGZsq{}}\PYG{l+s}{usb\PYGZsq{}}\PYG{p}{)}\PYG{p}{;}
+\PYG{n}{ma} \PYG{p}{=} \PYG{n}{b}\PYG{p}{.}\PYG{n}{motorA}\PYG{p}{;}
+\PYG{n}{ma}\PYG{p}{.}\PYG{n}{setProperties}\PYG{p}{(}\PYG{l+s}{\PYGZsq{}}\PYG{l+s}{power\PYGZsq{}}\PYG{p}{,} \PYG{l+m+mi}{50}\PYG{p}{,} \PYG{l+s}{\PYGZsq{}}\PYG{l+s}{limitValue\PYGZsq{}}\PYG{p}{,} \PYG{l+m+mi}{720}\PYG{p}{)}\PYG{p}{;}
+\PYG{n}{ma}\PYG{p}{.}\PYG{n}{start}\PYG{p}{(}\PYG{p}{)}\PYG{p}{;}
+\PYG{c}{\PYGZpc{} fun}
+\PYG{n}{ma}\PYG{p}{.}\PYG{n}{waitFor}\PYG{p}{(}\PYG{p}{)}\PYG{p}{;}
+\PYG{n+nb}{disp}\PYG{p}{(}\PYG{n}{b}\PYG{p}{.}\PYG{n}{sensor1}\PYG{p}{.}\PYG{n}{value}\PYG{p}{)}\PYG{p}{;}
+\PYG{n}{b}\PYG{p}{.}\PYG{n}{beep}\PYG{p}{(}\PYG{p}{)}\PYG{p}{;}
+\PYG{n}{b}\PYG{p}{.}\PYG{n}{delete}\PYG{p}{(}\PYG{p}{)}\PYG{p}{;}
+\end{Verbatim}
+
+Toolbox documentation
+\phantomsection\label{EV3:module-source}\index{source (module)}
+
+\section{EV3}
+\label{EV3:ev3}\label{EV3::doc}\index{EV3 (class in source)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3}\pysiglinewithargsret{\sphinxstrong{class }\sphinxcode{source.}\sphinxbfcode{EV3}}{\emph{varargin}}{}
+High-level class to work with physical bricks.
+
+This is the `central' class (from user's view) when working with this toolbox. It
+delivers a convenient interface for creating a connection to the brick and sending
+commands to it. An EV3-object creates 4 Motor- and 4 Sensor-objects, one for each port.
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+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.
+
+\item {}
+When an input argument of a method is marked as optional, the argument needs to be
+`announced' by a preceding 2nd argument, which is a string containing the name of the argument.
+For example, Motor.setProperties may be given a power-parameter. The syntax would be as
+follows: \emph{brickObject.motorA.setProperties(`power', 50);}
+
+\end{itemize}
+\index{motorA (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.motorA}\pysigline{\sphinxbfcode{motorA}}
+\emph{Motor} -- Motor-object interfacing port A. See also {\hyperref[Motor:source.Motor]{\sphinxcrossref{\sphinxcode{Motor}}}}.
+
+\end{fulllineitems}
+
+\index{motorB (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.motorB}\pysigline{\sphinxbfcode{motorB}}
+\emph{Motor} -- Motor-object interfacing port B. See also {\hyperref[Motor:source.Motor]{\sphinxcrossref{\sphinxcode{Motor}}}}.
+
+\end{fulllineitems}
+
+\index{motorC (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.motorC}\pysigline{\sphinxbfcode{motorC}}
+\emph{Motor} -- Motor-object interfacing port C. See also {\hyperref[Motor:source.Motor]{\sphinxcrossref{\sphinxcode{Motor}}}}.
+
+\end{fulllineitems}
+
+\index{motorD (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.motorD}\pysigline{\sphinxbfcode{motorD}}
+\emph{Motor} -- Motor-object interfacing port D. See also {\hyperref[Motor:source.Motor]{\sphinxcrossref{\sphinxcode{Motor}}}}.
+
+\end{fulllineitems}
+
+\index{sensor1 (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.sensor1}\pysigline{\sphinxbfcode{sensor1}}
+\emph{Sensor} -- Motor-object interfacing port 1. See also {\hyperref[Sensor:source.Sensor]{\sphinxcrossref{\sphinxcode{Sensor}}}}.
+
+\end{fulllineitems}
+
+\index{sensor2 (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.sensor2}\pysigline{\sphinxbfcode{sensor2}}
+\emph{Sensor} -- Motor-object interfacing port 2. See also {\hyperref[Sensor:source.Sensor]{\sphinxcrossref{\sphinxcode{Sensor}}}}.
+
+\end{fulllineitems}
+
+\index{sensor3 (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.sensor3}\pysigline{\sphinxbfcode{sensor3}}
+\emph{Sensor} -- Motor-object interfacing port 3. See also {\hyperref[Sensor:source.Sensor]{\sphinxcrossref{\sphinxcode{Sensor}}}}.
+
+\end{fulllineitems}
+
+\index{sensor4 (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.sensor4}\pysigline{\sphinxbfcode{sensor4}}
+\emph{Sensor} -- Motor-object interfacing port 4. See also {\hyperref[Sensor:source.Sensor]{\sphinxcrossref{\sphinxcode{Sensor}}}}.
+
+\end{fulllineitems}
+
+\index{debug (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.debug}\pysigline{\sphinxbfcode{debug}}
+\emph{numeric in \{0,1,2\}} -- Debug mode. \emph{{[}WRITABLE{]}}
+\begin{itemize}
+\item {}
+0: Debug turned off
+
+\item {}
+1: Debug turned on for EV3-object -\textgreater{} enables feedback in the console about what firmware-commands have been called when using a method
+
+\item {}
+2: Low-level-Debug turned on -\textgreater{} each packet sent and received is printed to the console
+
+\end{itemize}
+
+\end{fulllineitems}
+
+\index{batteryMode (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.batteryMode}\pysigline{\sphinxbfcode{batteryMode}}
+\emph{string in \{`Percentage', `Voltage'\}} -- Mode for reading battery charge. See also \sphinxcode{batteryValue}. \emph{{[}WRITABLE{]}}
+
+\end{fulllineitems}
+
+\index{batteryValue (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.batteryValue}\pysigline{\sphinxbfcode{batteryValue}}
+\emph{numeric} -- Current battery charge. Depending on batteryMode, the reading is either in percentage or voltage. See also \sphinxcode{batteryMode}. \emph{{[}READ-ONLY{]}}
+
+\end{fulllineitems}
+
+\index{isConnected (source.EV3 attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.isConnected}\pysigline{\sphinxbfcode{isConnected}}
+\emph{bool} -- True if virtual brick-object is connected to physical one. \emph{{[}READ-ONLY{]}}
+
+\end{fulllineitems}
+
+\paragraph{Example}
+
+\% This example expects a motor at port A and a (random) sensor at port 1
+b = EV3(); \%
+b.connect(`usb'); \%
+ma = b.motorA; \%
+ma.setProperties(`power', 50, `limitValue', 720); \%
+ma.start(); \%
+\% fun
+ma.waitFor(); \%
+disp(b.sensor1.value); \%
+b.beep(); \%
+delete b; \%
+\index{beep() (source.EV3 method)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.beep}\pysiglinewithargsret{\sphinxbfcode{beep}}{\emph{ev3}}{}
+Plays a `beep'-tone on brick.
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+This equals playTone(10, 1000, 100).
+
+\end{itemize}
+\paragraph{Example}
+
+b = EV3(); \%
+b.connect(`bt', `serPort', `/dev/rfcomm0'); \%
+b.beep(); \%
+
+\end{fulllineitems}
+
+\index{connect() (source.EV3 method)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.connect}\pysiglinewithargsret{\sphinxbfcode{connect}}{\emph{ev3}, \emph{varargin}}{}
+Connects EV3-object and its Motors and Sensors to physical brick.
+\begin{quote}\begin{description}
+\item[{Parameters}] \leavevmode\begin{itemize}
+\item {}
+\textbf{\texttt{connectionType}} (\emph{\texttt{string in \{'bt', 'usb'\}}}) -- Connection type
+
+\item {}
+\textbf{\texttt{serPort}} (\emph{\texttt{string in \{'/dev/rfcomm1', '/dev/rfcomm2', ...\}}}) -- Path to serial port
+(necessary if connectionType is `bt'). \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{beep}} (\emph{\texttt{bool}}) -- If true, EV3 beeps if connection has been established. \emph{{[}OPTIONAL{]}}
+
+\end{itemize}
+
+\end{description}\end{quote}
+\paragraph{Example}
+
+\% Setup bluetooth connection via com-port 0
+b = EV3(); \%
+b.connect(`bt', `serPort', `/dev/rfcomm0'); \%
+\% Setup usb connection, beep when connection has been established
+b = EV3(); \%
+b.connect(`usb', `beep', `on', ); \%
+
+See also ISCONNECTED / \sphinxcode{isConnected}
+
+\end{fulllineitems}
+
+\index{disconnect() (source.EV3 method)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.disconnect}\pysiglinewithargsret{\sphinxbfcode{disconnect}}{\emph{ev3}}{}
+Disconnects EV3-object and its Motors and Sensors from physical brick.
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+Gets called automatically when EV3-object is destroyed.
+
+\end{itemize}
+\paragraph{Example}
+
+b = EV3(); \%
+b.connect(`bt', `serPort', `/dev/rfcomm0'); \%
+\% do stuff
+b.disconnect(); \%
+
+\end{fulllineitems}
+
+\index{playTone() (source.EV3 method)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.playTone}\pysiglinewithargsret{\sphinxbfcode{playTone}}{\emph{ev3}, \emph{volume}, \emph{frequency}, \emph{duration}}{}
+Plays tone on brick.
+\begin{quote}\begin{description}
+\item[{Parameters}] \leavevmode\begin{itemize}
+\item {}
+\textbf{\texttt{volume}} (\emph{\texttt{numeric in {[}0, 100{]}}}) -- in percent
+
+\item {}
+\textbf{\texttt{frequency}} (\emph{\texttt{numeric in {[}250, 10000{]}}}) -- in Hertz
+
+\item {}
+\textbf{\texttt{duration}} (\emph{\texttt{numeric \textgreater{}0}}) -- in milliseconds
+
+\end{itemize}
+
+\end{description}\end{quote}
+\paragraph{Example}
+
+b = EV3(); \%
+b.connect(`bt', `serPort', `/dev/rfcomm0'); \%
+b.playTone(40, 5000, 1000); \% Plays tone with 40\% volume and 5000Hz for 1
+second.
+
+\end{fulllineitems}
+
+\index{setProperties() (source.EV3 method)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.setProperties}\pysiglinewithargsret{\sphinxbfcode{setProperties}}{\emph{ev3}, \emph{varargin}}{}
+Set multiple EV3 properties at once using MATLAB's inputParser.
+\begin{quote}\begin{description}
+\item[{Parameters}] \leavevmode\begin{itemize}
+\item {}
+\textbf{\texttt{debug}} (\emph{\texttt{numeric in \{0,1,2\}}}) -- see EV3.debug \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{batteryMode}} (\emph{\texttt{string in \{'Voltage'/'Percentage'\}}}) -- see EV3.batteryMode \emph{{[}OPTIONAL{]}}
+
+\end{itemize}
+
+\end{description}\end{quote}
+\paragraph{Example}
+
+b = EV3(); \%
+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 / \sphinxcode{debug}, \sphinxcode{batteryMode}
+
+\end{fulllineitems}
+
+\index{stopAllMotors() (source.EV3 method)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.stopAllMotors}\pysiglinewithargsret{\sphinxbfcode{stopAllMotors}}{\emph{ev3}}{}
+Sends a stop-command to all motor-ports.
+
+\end{fulllineitems}
+
+\index{stopTone() (source.EV3 method)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.stopTone}\pysiglinewithargsret{\sphinxbfcode{stopTone}}{\emph{ev3}}{}
+Stops tone currently played.
+\paragraph{Example}
+
+b = EV3(); \%
+b.connect(`bt', `serPort', `/dev/rfcomm0'); \%
+b.playTone(10,100,100000000); \% Accidentally given wrong tone duration :)
+b.stopTone(); \% Stops tone immediately.
+
+\end{fulllineitems}
+
+\index{tonePlayed() (source.EV3 method)}
+
+\begin{fulllineitems}
+\phantomsection\label{EV3:source.EV3.tonePlayed}\pysiglinewithargsret{\sphinxbfcode{tonePlayed}}{\emph{ev3}}{}
+Tests if tone is currently played.
+\begin{quote}\begin{description}
+\item[{Returns}] \leavevmode
+\textbf{status} -- True if a tone is being played
+
+\item[{Return type}] \leavevmode
+bool
+
+\end{description}\end{quote}
+\begin{description}
+\item[{Example}] \leavevmode
+b = EV3(); \%
+b.connect(`bt', `serPort', `/dev/rfcomm0'); \%
+b.playTone(10, 100, 1000); \%
+pause(0.5); \% Small pause is necessary as tone does not start instantaneously
+b.tonePlayed(); \% -\textgreater{} Outputs 1 to console.
+
+\end{description}
+
+\end{fulllineitems}
+
+
+\end{fulllineitems}
+
+\phantomsection\label{Motor:module-source}\index{source (module)}
+
+\section{Motor}
+\label{Motor::doc}\label{Motor:motor}\index{Motor (class in source)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor}\pysiglinewithargsret{\sphinxstrong{class }\sphinxcode{source.}\sphinxbfcode{Motor}}{\emph{varargin}}{}
+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.
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+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.
+
+\item {}
+The Motor-class represents motor ports, not individual motors!
+
+\item {}
+If you start a motor with power=0, the internal state will still be set to
+`isRunning'
+
+\item {}
+When an input argument of a method is marked as optional, the argument needs to be
+`announced' by a preceding 2nd argument, which is a string containing the name of the argument.
+For example, Motor.setProperties may be given a power-parameter. The syntax would be as
+follows: \emph{brickObject.motorA.setProperties(`power', 50);}
+
+\end{itemize}
+\index{power (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.power}\pysigline{\sphinxbfcode{power}}
+\emph{numeric in {[}-100, 100{]}} -- Power level of motor in percent. \emph{{[}WRITABLE{]}}
+
+\end{fulllineitems}
+
+\index{speedRegulation (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.speedRegulation}\pysigline{\sphinxbfcode{speedRegulation}}
+\emph{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 inputs 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. \emph{{[}WRITABLE{]}}
+
+\end{fulllineitems}
+
+\index{smoothStart (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.smoothStart}\pysigline{\sphinxbfcode{smoothStart}}
+\emph{numeric s. t. smoothStart+smoothStop \textless{} 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. See also {\hyperref[Motor:source.Motor.limitValue]{\sphinxcrossref{\sphinxcode{limitValue}}}}, {\hyperref[Motor:source.Motor.limitMode]{\sphinxcrossref{\sphinxcode{limitMode}}}}. \emph{{[}WRITABLE{]}}
+
+\end{fulllineitems}
+
+\index{smoothStop (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.smoothStop}\pysigline{\sphinxbfcode{smoothStop}}
+\emph{numeric s. t. smoothStart+smoothStop \textless{} 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. See also {\hyperref[Motor:source.Motor.limitValue]{\sphinxcrossref{\sphinxcode{limitValue}}}}, {\hyperref[Motor:source.Motor.limitMode]{\sphinxcrossref{\sphinxcode{limitMode}}}}. \emph{{[}WRITABLE{]}}
+
+\end{fulllineitems}
+
+\index{limitValue (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.limitValue}\pysigline{\sphinxbfcode{limitValue}}
+\emph{numeric\textgreater{}=0} -- Degrees/Time indicating how far/long the motor should run.
+Depending on limitMode, the input is interpreted either in degrees or
+milliseconds. See also {\hyperref[Motor:source.Motor.limitMode]{\sphinxcrossref{\sphinxcode{limitMode}}}}. \emph{{[}WRITABLE{]}}
+
+\end{fulllineitems}
+
+\index{limitMode (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.limitMode}\pysigline{\sphinxbfcode{limitMode}}
+\emph{`Tacho'\textbar{}'Time'} -- Mode for motor limit. See also {\hyperref[Motor:source.Motor.limitValue]{\sphinxcrossref{\sphinxcode{limitValue}}}}. \emph{{[}WRITABLE{]}}
+
+\end{fulllineitems}
+
+\index{brakeMode (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.brakeMode}\pysigline{\sphinxbfcode{brakeMode}}
+\emph{`Brake'\textbar{}'Coast'} -- Action done when stopping. If `Coast', the motor will (at
+tacholimit, if \textasciitilde{}=0) coast to a stop. If `Brake', the motor will stop immediately
+(at tacholimit, if \textasciitilde{}=0) and hold the brake. \emph{{[}WRITABLE{]}}
+
+\end{fulllineitems}
+
+\index{debug (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.debug}\pysigline{\sphinxbfcode{debug}}
+\emph{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. \emph{{[}WRITABLE{]}}
+
+\end{fulllineitems}
+
+\index{isRunning (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.isRunning}\pysigline{\sphinxbfcode{isRunning}}
+\emph{bool} -- True if motor is running. \emph{{[}READ-ONLY{]}}
+
+\end{fulllineitems}
+
+\index{tachoCount (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.tachoCount}\pysigline{\sphinxbfcode{tachoCount}}
+\emph{numeric} -- Current tacho count in degrees. \emph{{[}READ-ONLY{]}}
+
+\end{fulllineitems}
+
+\index{currentSpeed (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.currentSpeed}\pysigline{\sphinxbfcode{currentSpeed}}
+\emph{numeric} -- Current speed of motor. If speedRegulation=on this should equal power,
+otherwise it will probably be lower than that. See also {\hyperref[Motor:source.Motor.speedRegulation]{\sphinxcrossref{\sphinxcode{speedRegulation}}}}. \emph{{[}READ-ONLY{]}}
+
+\end{fulllineitems}
+
+\index{type (source.Motor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.type}\pysigline{\sphinxbfcode{type}}
+\emph{DeviceType} -- Type of connected device if any. \emph{{[}READ-ONLY{]}}
+
+\end{fulllineitems}
+
+\index{internalReset() (source.Motor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.internalReset}\pysiglinewithargsret{\sphinxbfcode{internalReset}}{\emph{motor}}{}
+Resets internal tacho count. Use this if motor behaves weird (i.e. not starting at all, or not correctly
+running to limitValue).
+
+The internal tacho count is used for positioning the motor. When the
+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 or it coasted into a stop. If the motor's
+brakemode is `Coast', this function is called automatically.
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+A better name would probably be resetPosition...
+
+\item {}
+Gets called automatically when starting the motor and the internal tacho count is \textgreater{} 0
+
+\end{itemize}
+
+See also MOTOR.RESETTACHOCOUNT / {\hyperref[Motor:source.Motor.resetTachoCount]{\sphinxcrossref{\sphinxcode{resetTachoCount}}}}
+
+\end{fulllineitems}
+
+\index{resetTachoCount() (source.Motor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.resetTachoCount}\pysiglinewithargsret{\sphinxbfcode{resetTachoCount}}{\emph{motor}}{}
+Resets tachocount.
+
+See also MOTOR.TACHOCOUNT / {\hyperref[Motor:source.Motor.tachoCount]{\sphinxcrossref{\sphinxcode{tachoCount}}}}
+
+\end{fulllineitems}
+
+\index{setBrake() (source.Motor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.setBrake}\pysiglinewithargsret{\sphinxbfcode{setBrake}}{\emph{motor}, \emph{brake}}{}
+Apply or release brake of motor.
+\begin{quote}\begin{description}
+\item[{Parameters}] \leavevmode
+\textbf{\texttt{brake}} (\emph{\texttt{bool}}) -- If true, brake will be pulled
+
+\end{description}\end{quote}
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+This method does not affect Motor.brakeMode. After the next run, the motor
+will again be stopped as specified in Motor.brakeMode.
+
+\end{itemize}
+
+See also MOTOR.BRAKEMODE / {\hyperref[Motor:source.Motor.brakeMode]{\sphinxcrossref{\sphinxcode{brakeMode}}}}
+
+\end{fulllineitems}
+
+\index{setProperties() (source.Motor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.setProperties}\pysiglinewithargsret{\sphinxbfcode{setProperties}}{\emph{motor}, \emph{varargin}}{}
+Sets multiple Motor properties at once using MATLAB's inputParser.
+\begin{quote}\begin{description}
+\item[{Parameters}] \leavevmode\begin{itemize}
+\item {}
+\textbf{\texttt{debug}} (\emph{\texttt{bool}}) -- \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{smoothStart}} (\emph{\texttt{numeric in {[}0, limitValue{]}}}) -- \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{smoothStop}} (\emph{\texttt{numeric in {[}0, limitValue{]}}}) -- \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{speedRegulation}} (\emph{\texttt{bool}}) -- \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{brakeMode}} (\emph{\texttt{'Coast'\textbar{}'Brake'}}) -- \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{limitMode}} (\emph{\texttt{'Time'\textbar{}'Tacho'}}) -- \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{limitValue}} (\emph{\texttt{numeric \textgreater{} 0}}) -- \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{power}} (\emph{\texttt{numeric in {[}-100,100{]}}}) -- \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{batteryMode}} (\emph{\texttt{'Voltage'\textbar{}'Percentage'}}) -- \emph{{[}OPTIONAL{]}}
+
+\end{itemize}
+
+\end{description}\end{quote}
+\paragraph{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';
+
+\end{fulllineitems}
+
+\index{start() (source.Motor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.start}\pysiglinewithargsret{\sphinxbfcode{start}}{\emph{motor}}{}
+Starts the motor.
+
+\end{fulllineitems}
+
+\index{stop() (source.Motor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.stop}\pysiglinewithargsret{\sphinxbfcode{stop}}{\emph{motor}}{}
+Stops the motor.
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+If this motor has been started synced with another one (either as master or
+slave, using Motor.syncedStart), syncedStop() will be called, stopping both
+motors.
+
+\end{itemize}
+
+See also MOTOR.START, MOTOR.SYNCEDSTOP / {\hyperref[Motor:source.Motor.start]{\sphinxcrossref{\sphinxcode{start()}}}}, {\hyperref[Motor:source.Motor.syncedStop]{\sphinxcrossref{\sphinxcode{syncedStop()}}}}
+
+\end{fulllineitems}
+
+\index{syncedStart() (source.Motor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.syncedStart}\pysiglinewithargsret{\sphinxbfcode{syncedStart}}{\emph{motor}, \emph{syncMotor}, \emph{varargin}}{}
+Starts this motor synchronized with another.
+
+The motor, with which this method is called, acts as a \emph{master}, meaning that the
+synchronized control is done with it und uses its parameters. When syncedStart is
+called, the master sets some of the slave's (syncMotor) properties to keep it
+consistent with the physical brick. So, for example, if the master has another
+power-value than the slave, the slave's power-value will be set to that of the
+master when syncedStart() is called.
+The following parameters will be affected on the slave: \emph{power}, \emph{brakeMode},
+\emph{limitValue}, \emph{speedRegulation}
+\begin{quote}\begin{description}
+\item[{Parameters}] \leavevmode\begin{itemize}
+\item {}
+\textbf{\texttt{syncMotor}} (\emph{\texttt{Motor}}) -- The motor-object to sync with
+
+\item {}
+\textbf{\texttt{turnRatio}} (\emph{\texttt{numeric in {[}-200,200{]}}}) -- Ratio between the two master's and the
+slave's motor speed. With values!=0 one motor will be slower than the other
+or even turn into the other direction. This can be used for turning car-like
+robots, for example. \emph{{[}OPTIONAL{]}} (Read in Firmware-comments in c\_output.c):
+-\textgreater{} 0 is moving straight forward
+-\textgreater{} Negative values turn to the left
+-\textgreater{} Positive values turn to the right
+-\textgreater{} Value -100 stops the left motor
+-\textgreater{} Value +100 stops the right motor
+-\textgreater{} Values less than -100 makes the left motor run the opposite direction of the right motor (Spin)
+-\textgreater{} Values greater than +100 makes the right motor run the opposite direction of the left motor (Spin)
+
+\end{itemize}
+
+\end{description}\end{quote}
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+This is a pretty `heavy' function, as it tests if both motors are
+connected AND aren't running, wasting four packets, keep that in mind.
+
+\end{itemize}
+\paragraph{Example}
+
+b = EV3(); \%
+b.connect(`usb'); \%
+m = b.motorA; \%
+slave = b.motorB; \%
+m.power = 50; \%
+m.syncedStart(slave); \%
+\% Do stuff
+m.stop(); \%
+
+See also MOTOR.STOP, MOTOR.SYNCEDSTOP / {\hyperref[Motor:source.Motor.stop]{\sphinxcrossref{\sphinxcode{stop()}}}}, {\hyperref[Motor:source.Motor.syncedStop]{\sphinxcrossref{\sphinxcode{syncedStop()}}}}
+
+\end{fulllineitems}
+
+\index{syncedStop() (source.Motor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.syncedStop}\pysiglinewithargsret{\sphinxbfcode{syncedStop}}{\emph{motor}}{}
+Stops both motors previously started with syncedStart.
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+This method is called automatically by stop(), if the motors have been
+started using syncedStart, and the regular stop-method has been called afterwards.
+
+\end{itemize}
+
+See also MOTOR.SYNCEDSTART, MOTOR.STOP / {\hyperref[Motor:source.Motor.syncedStart]{\sphinxcrossref{\sphinxcode{syncedStart()}}}}, {\hyperref[Motor:source.Motor.stop]{\sphinxcrossref{\sphinxcode{stop()}}}}
+
+\end{fulllineitems}
+
+\index{waitFor() (source.Motor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Motor:source.Motor.waitFor}\pysiglinewithargsret{\sphinxbfcode{waitFor}}{\emph{motor}}{}
+Stops execution of program as long as motor is running.
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+This one's a bit tricky. The opCode which is supposed to be used here, OutputReady,
+makes the brick stop sending
+responses until the motor has stopped. For security reasons, in this toolbox
+there is an internal timeout for receiving messages from the brick. It raises
+an error if a reply takes too long, which would happen in this case. As a
+workaround, there is an infinite loop that catches errors from outputReady and
+continues then, until outputReady will actually finish without an error.
+
+\item {}
+Workaround: Poll isRunning until it is false (No need to check if motor is
+connected as speed correctly returns 0 if it's not)
+
+\end{itemize}
+
+\end{fulllineitems}
+
+
+\end{fulllineitems}
+
+\phantomsection\label{Sensor:module-source}\index{source (module)}
+
+\section{Sensor}
+\label{Sensor:sensor}\label{Sensor::doc}\index{Sensor (class in source)}
+
+\begin{fulllineitems}
+\phantomsection\label{Sensor:source.Sensor}\pysiglinewithargsret{\sphinxstrong{class }\sphinxcode{source.}\sphinxbfcode{Sensor}}{\emph{varargin}}{}
+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.
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+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.
+
+\item {}
+The Sensor-class represents sensor ports, not individual sensors!
+
+\item {}
+When an input argument of a method is marked as optional, the argument needs to be
+`announced' by a preceding 2nd argument, which is a string containing the name of the argument.
+For example, Motor.setProperties may be given a power-parameter. The syntax would be as
+follows: \emph{brickObject.motorA.setProperties(`power', 50);}
+
+\end{itemize}
+\index{mode (source.Sensor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Sensor:source.Sensor.mode}\pysigline{\sphinxbfcode{mode}}
+\emph{DeviceMode.\{Type\}} -- Sensor mode in which the value will be read. By default, mode is set to \emph{DeviceMode.Default.Undefined}. See also {\hyperref[Sensor:source.Sensor.type]{\sphinxcrossref{\sphinxcode{type}}}}. \emph{{[}WRITABLE{]}} Once a physical sensor is connected to the port \emph{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):
+\begin{itemize}
+\item {} \begin{description}
+\item[{Touch-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.Touch.Pushed \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.Touch.Bumps
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{Ultrasonic-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.UltraSonic.DistCM \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.UltraSonic.DistIn
+
+\item {}
+DeviceMode.UltraSonic.Listen
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{Color-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.Color.Reflect \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.Color.Ambient
+
+\item {}
+DeviceMode.Color.Col
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{Gyro-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.Gyro.Angular \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.Gyro.Rate
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{Infrared-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.InfraRed.Prox \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.InfraRed.Seek
+
+\item {}
+DeviceMode.InfraRed.Remote
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{NXTColor-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.NXTColor.Reflect \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.NXTColor.Ambient
+
+\item {}
+DeviceMode.NXTColor.Color
+
+\item {}
+DeviceMode.NXTColor.Green
+
+\item {}
+DeviceMode.NXTColor.Blue
+
+\item {}
+DeviceMode.NXTColor.Raw
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{NXTLight-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.NXTLight.Reflect \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.NXTLight.Ambient
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{NXTSound-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.NXTSound.DB \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.NXTSound.DBA
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{NXTTemperature-Sensor}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.NXTTemperature.C \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.NXTTemperature.F
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{NXTTouch-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.NXTTouch.Pushed \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.NXTTouch.Bumps
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{NXTUltraSonic-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.NXTUltraSonic.CM \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.NXTUltraSonic.IN
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{HTAccelerometer-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.HTAccelerometer.Acceleration \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.HTAccelerometer.AccelerationAllAxes
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{HTCompass-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.HTCompass.Degrees \emph{{[}Default{]}}
+
+\end{itemize}
+
+\end{description}
+
+\item {} \begin{description}
+\item[{HTColor-Sensor:}] \leavevmode\begin{itemize}
+\item {}
+DeviceMode.HTColor.Col \emph{{[}Default{]}}
+
+\item {}
+DeviceMode.HTColor.Red
+
+\item {}
+DeviceMode.HTColor.Green
+
+\item {}
+DeviceMode.HTColor.Blue
+
+\item {}
+DeviceMode.HTColor.White
+
+\item {}
+DeviceMode.HTColor.Raw
+
+\item {}
+DeviceMode.HTColor.Nr,
+
+\item {}
+DeviceMode.HTColor.All
+
+\end{itemize}
+
+\end{description}
+
+\end{itemize}
+
+\end{fulllineitems}
+
+\index{debug (source.Sensor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Sensor:source.Sensor.debug}\pysigline{\sphinxbfcode{debug}}
+\emph{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. \emph{{[}WRITABLE{]}}
+
+\end{fulllineitems}
+
+\index{value (source.Sensor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Sensor:source.Sensor.value}\pysigline{\sphinxbfcode{value}}
+\emph{numeric} -- Value read from hysical sensor. What the value represents depends on
+{\hyperref[Sensor:source.Sensor.mode]{\sphinxcrossref{\sphinxcode{mode}}}}. \emph{{[}READ-ONLY{]}}
+
+\end{fulllineitems}
+
+\index{type (source.Sensor attribute)}
+
+\begin{fulllineitems}
+\phantomsection\label{Sensor:source.Sensor.type}\pysigline{\sphinxbfcode{type}}
+\emph{DeviceType} -- Type of physical sensor connected to the port. Possible types are: {[}READ-ONLY{]}
+\begin{itemize}
+\item {}
+DeviceType.NXTTouch
+
+\item {}
+DeviceType.NXTLight
+
+\item {}
+DeviceType.NXTSound
+
+\item {}
+DeviceType.NXTColor
+
+\item {}
+DeviceType.NXTUltraSonic
+
+\item {}
+DeviceType.NXTTemperature
+
+\item {}
+DeviceType.LargeMotor
+
+\item {}
+DeviceType.MediumMotor
+
+\item {}
+DeviceType.Touch
+
+\item {}
+DeviceType.Color
+
+\item {}
+DeviceType.UltraSonic
+
+\item {}
+DeviceType.Gyro
+
+\item {}
+DeviceType.InfraRed
+
+\item {}
+DeviceType.HTColor
+
+\item {}
+DeviceType.HTCompass
+
+\item {}
+DeviceType.HTAccelerometer
+
+\item {}
+DeviceType.Unknown
+
+\item {}
+DeviceType.None
+
+\item {}
+DeviceType.Error
+
+\end{itemize}
+
+\end{fulllineitems}
+
+\index{reset() (source.Sensor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Sensor:source.Sensor.reset}\pysiglinewithargsret{\sphinxbfcode{reset}}{\emph{sensor}}{}
+Resets sensor value.
+\paragraph{Notes}
+\begin{itemize}
+\item {}
+This clears ALL the sensors right now, no other Op-Code available... :(
+
+\end{itemize}
+
+\end{fulllineitems}
+
+\index{setProperties() (source.Sensor method)}
+
+\begin{fulllineitems}
+\phantomsection\label{Sensor:source.Sensor.setProperties}\pysiglinewithargsret{\sphinxbfcode{setProperties}}{\emph{sensor}, \emph{varargin}}{}
+Sets multiple Sensor properties at once using MATLAB's inputParser.
+\begin{quote}\begin{description}
+\item[{Parameters}] \leavevmode\begin{itemize}
+\item {}
+\textbf{\texttt{debug}} (\emph{\texttt{bool}}) -- \emph{{[}OPTIONAL{]}}
+
+\item {}
+\textbf{\texttt{mode}} (\emph{\texttt{DeviceMode.\{Type\}}}) -- \emph{{[}OPTIONAL{]}}
+
+\end{itemize}
+
+\end{description}\end{quote}
+\paragraph{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;
+
+\end{fulllineitems}
+
+
+\end{fulllineitems}
+
+
+Advanced
+\phantomsection\label{CommandLayer:module-source}\index{source (module)}
+
+\section{CommandLayer}
+\label{CommandLayer:commandlayer}\label{CommandLayer::doc}
+
+\subsection{Command}
+\label{CommandLayer:command}
+
+\subsection{CommunicationInterface}
+\label{CommandLayer:communicationinterface}\phantomsection\label{CommunicationLayer:module-source}\index{source (module)}
+
+\section{CommunicationLayer}
+\label{CommunicationLayer:communicationlayer}\label{CommunicationLayer::doc}
+
+\subsection{USB}
+\label{CommunicationLayer:usb}
+
+\subsection{Bluetooth}
+\label{CommunicationLayer:bluetooth}
+
+
+\renewcommand{\indexname}{Index}
+\printindex
+\end{document}
diff --git a/docs/_build/latex/MindstormsEV3Toolbox.toc b/docs/_build/latex/MindstormsEV3Toolbox.toc
new file mode 100644
index 0000000000000000000000000000000000000000..9f33bc3bdc23cc9156dc2cb004f383e5705337fa
--- /dev/null
+++ b/docs/_build/latex/MindstormsEV3Toolbox.toc
@@ -0,0 +1,39 @@
+\select@language {english}
+\contentsline {chapter}{\numberline {1}Contents}{3}{chapter.1}
+\contentsline {section}{\numberline {1.1}General}{3}{section.1.1}
+\contentsline {subsection}{\numberline {1.1.1}Installation}{3}{subsection.1.1.1}
+\contentsline {subsection}{\numberline {1.1.2}Contribution}{3}{subsection.1.1.2}
+\contentsline {subsection}{\numberline {1.1.3}Licenses}{3}{subsection.1.1.3}
+\contentsline {section}{\numberline {1.2}Examples}{3}{section.1.2}
+\contentsline {section}{\numberline {1.3}EV3}{3}{section.1.3}
+\contentsline {paragraph}{Notes}{4}{paragraph*.5}
+\contentsline {paragraph}{Example}{4}{paragraph*.18}
+\contentsline {paragraph}{Notes}{5}{paragraph*.20}
+\contentsline {paragraph}{Example}{5}{paragraph*.21}
+\contentsline {paragraph}{Example}{5}{paragraph*.23}
+\contentsline {paragraph}{Notes}{5}{paragraph*.25}
+\contentsline {paragraph}{Example}{5}{paragraph*.26}
+\contentsline {paragraph}{Example}{6}{paragraph*.28}
+\contentsline {paragraph}{Example}{6}{paragraph*.30}
+\contentsline {paragraph}{Example}{6}{paragraph*.33}
+\contentsline {section}{\numberline {1.4}Motor}{6}{section.1.4}
+\contentsline {paragraph}{Notes}{7}{paragraph*.37}
+\contentsline {paragraph}{Notes}{8}{paragraph*.51}
+\contentsline {paragraph}{Notes}{8}{paragraph*.54}
+\contentsline {paragraph}{Example}{9}{paragraph*.56}
+\contentsline {paragraph}{Notes}{9}{paragraph*.59}
+\contentsline {paragraph}{Notes}{9}{paragraph*.61}
+\contentsline {paragraph}{Example}{9}{paragraph*.62}
+\contentsline {paragraph}{Notes}{10}{paragraph*.64}
+\contentsline {paragraph}{Notes}{10}{paragraph*.66}
+\contentsline {section}{\numberline {1.5}Sensor}{10}{section.1.5}
+\contentsline {paragraph}{Notes}{10}{paragraph*.69}
+\contentsline {paragraph}{Notes}{13}{paragraph*.75}
+\contentsline {paragraph}{Example}{13}{paragraph*.77}
+\contentsline {section}{\numberline {1.6}CommandLayer}{13}{section.1.6}
+\contentsline {subsection}{\numberline {1.6.1}Command}{13}{subsection.1.6.1}
+\contentsline {subsection}{\numberline {1.6.2}CommunicationInterface}{13}{subsection.1.6.2}
+\contentsline {section}{\numberline {1.7}CommunicationLayer}{13}{section.1.7}
+\contentsline {subsection}{\numberline {1.7.1}USB}{13}{subsection.1.7.1}
+\contentsline {subsection}{\numberline {1.7.2}Bluetooth}{13}{subsection.1.7.2}
+\contentsline {chapter}{Index}{15}{section*.80}
diff --git a/docs/_build/latex/fncychap.sty b/docs/_build/latex/fncychap.sty
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index 0000000000000000000000000000000000000000..9a56c04ed4223ce77e463eea87755151f5d4864c
--- /dev/null
+++ b/docs/_build/latex/fncychap.sty
@@ -0,0 +1,683 @@
+%%% Copyright Ulf A. Lindgren
+%%%
+%%% Note Premission is granted to modify this file under
+%%% the condition that it is saved using another
+%%% file and package name.
+%%%
+%%% Revision 1.1 (1997)
+%%%
+%%% Jan. 8th Modified package name base date option
+%%% Jan. 22th Modified FmN and FmTi for error in book.cls
+%%% \MakeUppercase{#}->{\MakeUppercase#}
+%%% Apr. 6th Modified Lenny option to prevent undesired
+%%% skip of line.
+%%% Nov. 8th Fixed \@chapapp for AMS
+%%%
+%%% Revision 1.2 (1998)
+%%%
+%%% Feb. 11th Fixed appendix problem related to Bjarne
+%%% Aug. 11th Fixed problem related to 11pt and 12pt
+%%% suggested by Tomas Lundberg. THANKS!
+%%%
+%%% Revision 1.3 (2004)
+%%% Sep. 20th problem with frontmatter, mainmatter and
+%%% backmatter, pointed out by Lapo Mori
+%%%
+%%% Revision 1.31 (2004)
+%%% Sep. 21th problem with the Rejne definition streched text
+%%% caused ugly gaps in the vrule aligned with the title
+%%% text. Kindly pointed out to me by Hendri Adriaens
+%%%
+%%% Revision 1.32 (2005)
+%%% Jun. 23th compatibility problem with the KOMA class 'scrbook.cls'
+%%% a remedy is a redefinition of '\@schapter' in
+%%% line with that used in KOMA. The problem was pointed
+%%% out to me by Mikkel Holm Olsen
+%%%
+%%% Revision 1.33 (2005)
+%%% Aug. 9th misspelled ``TWELV'' corrected, the error was pointed
+%%% out to me by George Pearson
+%%%
+%%% Revision 1.34 (2007)
+%%% Added an alternative to Lenny provided by Peter
+%%% Osborne (2005-11-28)
+%%% Corrected front, main and back matter, based on input
+%%% from Bas van Gils (2006-04-24)
+%%% Jul. 30th Added Bjornstrup option provided by Jean-Marc
+%%% Francois (2007-01-05).
+%%% Reverted to \MakeUppercase{#} see rev 1.1, solved
+%%% problem with MakeUppercase and MakeLowercase pointed
+%%% out by Marco Feuerstein (2007-06-06)
+
+
+%%% Last modified Jul. 2007
+
+\NeedsTeXFormat{LaTeX2e}[1995/12/01]
+\ProvidesPackage{fncychap}
+ [2007/07/30 v1.34
+ LaTeX package (Revised chapters)]
+
+%%%% For conditional inclusion of color
+\newif\ifusecolor
+\usecolorfalse
+
+
+
+%%%% DEFINITION OF Chapapp variables
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+
+
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+\newif\ifUCN
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+
+%%%%% Fix for AMSBook 971008
+
+\@ifundefined{@chapapp}{\let\@chapapp\chaptername}{}
+
+
+%%%%% Fix for Bjarne and appendix 980211
+
+\newif\ifinapp
+\inappfalse
+\renewcommand\appendix{\par
+ \setcounter{chapter}{0}%
+ \setcounter{section}{0}%
+ \inapptrue%
+ \renewcommand\@chapapp{\appendixname}%
+ \renewcommand\thechapter{\@Alph\c@chapter}}
+
+%%%%% Fix for frontmatter, mainmatter, and backmatter 040920
+
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+
+%%%%%
+
+
+
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+
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+\newlength{\mylen}
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+
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+ \CNV\FmN{\@chapapp}\space \CNoV\thechapter
+ \par\nobreak
+ \vskip 20\p@
+ }
+\newcommand{\DOTI}[1]{%
+ \CTV\FmTi{#1}\par\nobreak
+ \vskip 40\p@
+ }
+\newcommand{\DOTIS}[1]{%
+ \CTV\FmTi{#1}\par\nobreak
+ \vskip 40\p@
+ }
+
+%%%%%% SONNY DEF
+
+\DeclareOption{Sonny}{%
+ \ChNameVar{\Large\sf}
+ \ChNumVar{\Huge}
+ \ChTitleVar{\Large\sf}
+ \ChRuleWidth{0.5pt}
+ \ChNameUpperCase
+ \renewcommand{\DOCH}{%
+ \raggedleft
+ \CNV\FmN{\@chapapp}\space \CNoV\thechapter
+ \par\nobreak
+ \vskip 40\p@}
+ \renewcommand{\DOTI}[1]{%
+ \CTV\raggedleft\mghrulefill{\RW}\par\nobreak
+ \vskip 5\p@
+ \CTV\FmTi{#1}\par\nobreak
+ \mghrulefill{\RW}\par\nobreak
+ \vskip 40\p@}
+ \renewcommand{\DOTIS}[1]{%
+ \CTV\raggedleft\mghrulefill{\RW}\par\nobreak
+ \vskip 5\p@
+ \CTV\FmTi{#1}\par\nobreak
+ \mghrulefill{\RW}\par\nobreak
+ \vskip 40\p@}
+}
+
+%%%%%% LENNY DEF
+
+\DeclareOption{Lenny}{%
+
+ \ChNameVar{\fontsize{14}{16}\usefont{OT1}{phv}{m}{n}\selectfont}
+ \ChNumVar{\fontsize{60}{62}\usefont{OT1}{ptm}{m}{n}\selectfont}
+ \ChTitleVar{\Huge\bfseries\rm}
+ \ChRuleWidth{1pt}
+ \renewcommand{\DOCH}{%
+ \settowidth{\px}{\CNV\FmN{\@chapapp}}
+ \addtolength{\px}{2pt}
+ \settoheight{\py}{\CNV\FmN{\@chapapp}}
+ \addtolength{\py}{1pt}
+
+ \settowidth{\mylen}{\CNV\FmN{\@chapapp}\space\CNoV\thechapter}
+ \addtolength{\mylen}{1pt}
+ \settowidth{\pxx}{\CNoV\thechapter}
+ \addtolength{\pxx}{-1pt}
+
+ \settoheight{\pyy}{\CNoV\thechapter}
+ \addtolength{\pyy}{-2pt}
+ \setlength{\myhi}{\pyy}
+ \addtolength{\myhi}{-1\py}
+ \par
+ \parbox[b]{\textwidth}{%
+ \rule[\py]{\RW}{\myhi}%
+ \hskip -\RW%
+ \rule[\pyy]{\px}{\RW}%
+ \hskip -\px%
+ \raggedright%
+ \CNV\FmN{\@chapapp}\space\CNoV\thechapter%
+ \hskip1pt%
+ \mghrulefill{\RW}%
+ \rule{\RW}{\pyy}\par\nobreak%
+ \vskip -\baselineskip%
+ \vskip -\pyy%
+ \hskip \mylen%
+ \mghrulefill{\RW}\par\nobreak%
+ \vskip \pyy}%
+ \vskip 20\p@}
+
+
+ \renewcommand{\DOTI}[1]{%
+ \raggedright
+ \CTV\FmTi{#1}\par\nobreak
+ \vskip 40\p@}
+
+ \renewcommand{\DOTIS}[1]{%
+ \raggedright
+ \CTV\FmTi{#1}\par\nobreak
+ \vskip 40\p@}
+ }
+
+%%%%%% Peter Osbornes' version of LENNY DEF
+
+\DeclareOption{PetersLenny}{%
+
+% five new lengths
+\newlength{\bl} % bottom left : orig \space
+\setlength{\bl}{6pt}
+\newcommand{\BL}[1]{\setlength{\bl}{#1}}
+\newlength{\br} % bottom right : orig 1pt
+\setlength{\br}{1pt}
+\newcommand{\BR}[1]{\setlength{\br}{#1}}
+\newlength{\tl} % top left : orig 2pt
+\setlength{\tl}{2pt}
+\newcommand{\TL}[1]{\setlength{\tl}{#1}}
+\newlength{\trr} % top right :orig 1pt
+\setlength{\trr}{1pt}
+\newcommand{\TR}[1]{\setlength{\trr}{#1}}
+\newlength{\blrule} % top right :orig 1pt
+\setlength{\trr}{0pt}
+\newcommand{\BLrule}[1]{\setlength{\blrule}{#1}}
+
+
+ \ChNameVar{\fontsize{14}{16}\usefont{OT1}{phv}{m}{n}\selectfont}
+ \ChNumVar{\fontsize{60}{62}\usefont{OT1}{ptm}{m}{n}\selectfont}
+ \ChTitleVar{\Huge\bfseries\rm}
+ \ChRuleWidth{1pt}
+\renewcommand{\DOCH}{%
+
+
+%%%%%%% tweaks for 1--9 and A--Z
+\ifcase\c@chapter\relax%
+\or\BL{-3pt}\TL{-4pt}\BR{0pt}\TR{-6pt}%1
+\or\BL{0pt}\TL{-4pt}\BR{2pt}\TR{-4pt}%2
+\or\BL{0pt}\TL{-4pt}\BR{2pt}\TR{-4pt}%3
+\or\BL{0pt}\TL{5pt}\BR{2pt}\TR{-4pt}%4
+\or\BL{0pt}\TL{3pt}\BR{2pt}\TR{-4pt}%5
+\or\BL{-1pt}\TL{0pt}\BR{2pt}\TR{-2pt}%6
+\or\BL{0pt}\TL{-3pt}\BR{2pt}\TR{-2pt}%7
+\or\BL{0pt}\TL{-3pt}\BR{2pt}\TR{-2pt}%8
+\or\BL{0pt}\TL{-3pt}\BR{-4pt}\TR{-2pt}%9
+\or\BL{-3pt}\TL{-3pt}\BR{2pt}\TR{-7pt}%10
+\or\BL{-6pt}\TL{-6pt}\BR{0pt}\TR{-9pt}%11
+\or\BL{-6pt}\TL{-6pt}\BR{2pt}\TR{-7pt}%12
+\or\BL{-5pt}\TL{-5pt}\BR{0pt}\TR{-9pt}%13
+\or\BL{-6pt}\TL{-6pt}\BR{0pt}\TR{-9pt}%14
+\or\BL{-3pt}\TL{-3pt}\BR{3pt}\TR{-6pt}%15
+\or\BL{-3pt}\TL{-3pt}\BR{3pt}\TR{-6pt}%16
+\or\BL{-5pt}\TL{-3pt}\BR{-8pt}\TR{-6pt}%17
+\or\BL{-5pt}\TL{-5pt}\BR{0pt}\TR{-9pt}%18
+\or\BL{-3pt}\TL{-3pt}\BR{-6pt}\TR{-9pt}%19
+\or\BL{0pt}\TL{0pt}\BR{0pt}\TR{-5pt}%20
+\fi
+
+\ifinapp\ifcase\c@chapter\relax%
+\or\BL{0pt}\TL{14pt}\BR{5pt}\TR{-19pt}%A
+\or\BL{0pt}\TL{-5pt}\BR{-3pt}\TR{-8pt}%B
+\or\BL{-3pt}\TL{-2pt}\BR{1pt}\TR{-6pt}\BLrule{0pt}%C
+\or\BL{0pt}\TL{-5pt}\BR{-3pt}\TR{-8pt}\BLrule{0pt}%D
+\or\BL{0pt}\TL{-5pt}\BR{2pt}\TR{-3pt}%E
+\or\BL{0pt}\TL{-5pt}\BR{-10pt}\TR{-1pt}%F
+\or\BL{-3pt}\TL{0pt}\BR{0pt}\TR{-7pt}%G
+\or\BL{0pt}\TL{-5pt}\BR{3pt}\TR{-1pt}%H
+\or\BL{0pt}\TL{-5pt}\BR{3pt}\TR{-1pt}%I
+\or\BL{2pt}\TL{0pt}\BR{-3pt}\TR{1pt}%J
+\or\BL{0pt}\TL{-5pt}\BR{3pt}\TR{-1pt}%K
+\or\BL{0pt}\TL{-5pt}\BR{2pt}\TR{-19pt}%L
+\or\BL{0pt}\TL{-5pt}\BR{3pt}\TR{-1pt}%M
+\or\BL{0pt}\TL{-5pt}\BR{-2pt}\TR{-1pt}%N
+\or\BL{-3pt}\TL{-2pt}\BR{-3pt}\TR{-11pt}%O
+\or\BL{0pt}\TL{-5pt}\BR{-9pt}\TR{-3pt}%P
+\or\BL{-3pt}\TL{-2pt}\BR{-3pt}\TR{-11pt}%Q
+\or\BL{0pt}\TL{-5pt}\BR{4pt}\TR{-8pt}%R
+\or\BL{-2pt}\TL{-2pt}\BR{-2pt}\TR{-7pt}%S
+\or\BL{-3pt}\TL{0pt}\BR{-5pt}\TR{4pt}\BLrule{8pt}%T
+\or\BL{-7pt}\TL{-11pt}\BR{-5pt}\TR{-7pt}\BLrule{0pt}%U
+\or\BL{-14pt}\TL{-5pt}\BR{-14pt}\TR{-1pt}\BLrule{14pt}%V
+\or\BL{-10pt}\TL{-9pt}\BR{-13pt}\TR{-3pt}\BLrule{7pt}%W
+\or\BL{0pt}\TL{-5pt}\BR{3pt}\TR{-1pt}\BLrule{0pt}%X
+\or\BL{-6pt}\TL{-4pt}\BR{-7pt}\TR{1pt}\BLrule{7pt}%Y
+\or\BL{0pt}\TL{-5pt}\BR{3pt}\TR{-1pt}\BLrule{0pt}%Z
+\fi\fi
+%%%%%%%
+ \settowidth{\px}{\CNV\FmN{\@chapapp}}
+ \addtolength{\px}{\tl} %MOD change 2pt to \tl
+ \settoheight{\py}{\CNV\FmN{\@chapapp}}
+ \addtolength{\py}{1pt}
+
+ \settowidth{\mylen}{\CNV\FmN{\@chapapp}\space\CNoV\thechapter}
+ \addtolength{\mylen}{\trr}% MOD change 1pt to \tr
+ \settowidth{\pxx}{\CNoV\thechapter}
+ \addtolength{\pxx}{-1pt}
+
+ \settoheight{\pyy}{\CNoV\thechapter}
+ \addtolength{\pyy}{-2pt}
+ \setlength{\myhi}{\pyy}
+ \addtolength{\myhi}{-1\py}
+ \par
+ \parbox[b]{\textwidth}{%
+ \rule[\py]{\RW}{\myhi}%
+ \hskip -\RW%
+ \rule[\pyy]{\px}{\RW}%
+ \hskip -\px%
+ \raggedright%
+ \CNV\FmN{\@chapapp}\rule{\blrule}{\RW}\hskip\bl\CNoV\thechapter%MOD
+% \CNV\FmN{\@chapapp}\space\CNoV\thechapter %ORIGINAL
+ \hskip\br% %MOD 1pt to \br
+ \mghrulefill{\RW}%
+ \rule{\RW}{\pyy}\par\nobreak%
+ \vskip -\baselineskip%
+ \vskip -\pyy%
+ \hskip \mylen%
+ \mghrulefill{\RW}\par\nobreak%
+ \vskip \pyy}%
+ \vskip 20\p@}
+
+
+ \renewcommand{\DOTI}[1]{%
+ \raggedright
+ \CTV\FmTi{#1}\par\nobreak
+ \vskip 40\p@}
+
+ \renewcommand{\DOTIS}[1]{%
+ \raggedright
+ \CTV\FmTi{#1}\par\nobreak
+ \vskip 40\p@}
+ }
+
+
+%
+
+
+%%%%%% BJORNSTRUP DEF
+
+\DeclareOption{Bjornstrup}{%
+ \usecolortrue
+ % pzc (Zapf Chancelery) is nice. ppl (Palatino) is cool too.
+ \ChNumVar{\fontsize{76}{80}\usefont{OT1}{pzc}{m}{n}\selectfont}
+ \ChTitleVar{\raggedleft\Large\sffamily\bfseries}
+
+ \setlength{\myhi}{10pt} % Space between grey box border and text
+ \setlength{\mylen}{\textwidth}
+ \addtolength{\mylen}{-2\myhi}
+ \renewcommand{\DOCH}{%
+ \settowidth{\py}{\CNoV\thechapter}
+ \addtolength{\py}{-10pt} % Amount of space by which the
+% % number is shifted right
+ \fboxsep=0pt%
+ \colorbox[gray]{.85}{\rule{0pt}{40pt}\parbox[b]{\textwidth}{\hfill}}%
+ \kern-\py\raise20pt%
+ \hbox{\color[gray]{.5}\CNoV\thechapter}\\%
+ }
+
+ \renewcommand{\DOTI}[1]{%
+ \nointerlineskip\raggedright%
+ \fboxsep=\myhi%
+ \vskip-1ex%
+ \colorbox[gray]{.85}{\parbox[t]{\mylen}{\CTV\FmTi{#1}}}\par\nobreak%
+ \vskip 40\p@%
+ }
+
+ \renewcommand{\DOTIS}[1]{%
+ \fboxsep=0pt
+ \colorbox[gray]{.85}{\rule{0pt}{40pt}\parbox[b]{\textwidth}{\hfill}}\\%
+ \nointerlineskip\raggedright%
+ \fboxsep=\myhi%
+ \colorbox[gray]{.85}{\parbox[t]{\mylen}{\CTV\FmTi{#1}}}\par\nobreak%
+ \vskip 40\p@%
+ }
+}
+
+
+%%%%%%% GLENN DEF
+
+
+\DeclareOption{Glenn}{%
+ \ChNameVar{\bfseries\Large\sf}
+ \ChNumVar{\Huge}
+ \ChTitleVar{\bfseries\Large\rm}
+ \ChRuleWidth{1pt}
+ \ChNameUpperCase
+ \ChTitleUpperCase
+ \renewcommand{\DOCH}{%
+ \settoheight{\myhi}{\CTV\FmTi{Test}}
+ \setlength{\py}{\baselineskip}
+ \addtolength{\py}{\RW}
+ \addtolength{\py}{\myhi}
+ \setlength{\pyy}{\py}
+ \addtolength{\pyy}{-1\RW}
+
+ \raggedright
+ \CNV\FmN{\@chapapp}\space\CNoV\thechapter
+ \hskip 3pt\mghrulefill{\RW}\rule[-1\pyy]{2\RW}{\py}\par\nobreak}
+
+ \renewcommand{\DOTI}[1]{%
+ \addtolength{\pyy}{-4pt}
+ \settoheight{\myhi}{\CTV\FmTi{#1}}
+ \addtolength{\myhi}{\py}
+ \addtolength{\myhi}{-1\RW}
+ \vskip -1\pyy
+ \rule{2\RW}{\myhi}\mghrulefill{\RW}\hskip 2pt
+ \raggedleft\CTV\FmTi{#1}\par\nobreak
+ \vskip 80\p@}
+
+\newlength{\backskip}
+ \renewcommand{\DOTIS}[1]{%
+% \setlength{\py}{10pt}
+% \setlength{\pyy}{\py}
+% \addtolength{\pyy}{\RW}
+% \setlength{\myhi}{\baselineskip}
+% \addtolength{\myhi}{\pyy}
+% \mghrulefill{\RW}\rule[-1\py]{2\RW}{\pyy}\par\nobreak
+% \addtolength{}{}
+%\vskip -1\baselineskip
+% \rule{2\RW}{\myhi}\mghrulefill{\RW}\hskip 2pt
+% \raggedleft\CTV\FmTi{#1}\par\nobreak
+% \vskip 60\p@}
+%% Fix suggested by Tomas Lundberg
+ \setlength{\py}{25pt} % eller vad man vill
+ \setlength{\pyy}{\py}
+ \setlength{\backskip}{\py}
+ \addtolength{\backskip}{2pt}
+ \addtolength{\pyy}{\RW}
+ \setlength{\myhi}{\baselineskip}
+ \addtolength{\myhi}{\pyy}
+ \mghrulefill{\RW}\rule[-1\py]{2\RW}{\pyy}\par\nobreak
+ \vskip -1\backskip
+ \rule{2\RW}{\myhi}\mghrulefill{\RW}\hskip 3pt %
+ \raggedleft\CTV\FmTi{#1}\par\nobreak
+ \vskip 40\p@}
+ }
+
+%%%%%%% CONNY DEF
+
+\DeclareOption{Conny}{%
+ \ChNameUpperCase
+ \ChTitleUpperCase
+ \ChNameVar{\centering\Huge\rm\bfseries}
+ \ChNumVar{\Huge}
+ \ChTitleVar{\centering\Huge\rm}
+ \ChRuleWidth{2pt}
+
+ \renewcommand{\DOCH}{%
+ \mghrulefill{3\RW}\par\nobreak
+ \vskip -0.5\baselineskip
+ \mghrulefill{\RW}\par\nobreak
+ \CNV\FmN{\@chapapp}\space \CNoV\thechapter
+ \par\nobreak
+ \vskip -0.5\baselineskip
+ }
+ \renewcommand{\DOTI}[1]{%
+ \mghrulefill{\RW}\par\nobreak
+ \CTV\FmTi{#1}\par\nobreak
+ \vskip 60\p@
+ }
+ \renewcommand{\DOTIS}[1]{%
+ \mghrulefill{\RW}\par\nobreak
+ \CTV\FmTi{#1}\par\nobreak
+ \vskip 60\p@
+ }
+ }
+
+%%%%%%% REJNE DEF
+
+\DeclareOption{Rejne}{%
+
+ \ChNameUpperCase
+ \ChTitleUpperCase
+ \ChNameVar{\centering\Large\rm}
+ \ChNumVar{\Huge}
+ \ChTitleVar{\centering\Huge\rm}
+ \ChRuleWidth{1pt}
+ \renewcommand{\DOCH}{%
+ \settoheight{\py}{\CNoV\thechapter}
+ \parskip=0pt plus 1pt % Set parskip to default, just in case v1.31
+ \addtolength{\py}{-1pt}
+ \CNV\FmN{\@chapapp}\par\nobreak
+ \vskip 20\p@
+ \setlength{\myhi}{2\baselineskip}
+ \setlength{\px}{\myhi}
+ \addtolength{\px}{-1\RW}
+ \rule[-1\px]{\RW}{\myhi}\mghrulefill{\RW}\hskip
+ 10pt\raisebox{-0.5\py}{\CNoV\thechapter}\hskip 10pt\mghrulefill{\RW}\rule[-1\px]{\RW}{\myhi}\par\nobreak
+ \vskip -3\p@% Added -2pt vskip to correct for streched text v1.31
+ }
+ \renewcommand{\DOTI}[1]{%
+ \setlength{\mylen}{\textwidth}
+ \parskip=0pt plus 1pt % Set parskip to default, just in case v1.31
+ \addtolength{\mylen}{-2\RW}
+ {\vrule width\RW}\parbox{\mylen}{\CTV\FmTi{#1}}{\vrule width\RW}\par\nobreak%
+ \vskip -3pt\rule{\RW}{2\baselineskip}\mghrulefill{\RW}\rule{\RW}{2\baselineskip}%
+ \vskip 60\p@% Added -2pt in vskip to correct for streched text v1.31
+ }
+ \renewcommand{\DOTIS}[1]{%
+ \setlength{\py}{\fboxrule}
+ \setlength{\fboxrule}{\RW}
+ \setlength{\mylen}{\textwidth}
+ \addtolength{\mylen}{-2\RW}
+ \fbox{\parbox{\mylen}{\vskip 2\baselineskip\CTV\FmTi{#1}\par\nobreak\vskip \baselineskip}}
+ \setlength{\fboxrule}{\py}
+ \vskip 60\p@
+ }
+ }
+
+
+%%%%%%% BJARNE DEF
+
+\DeclareOption{Bjarne}{%
+ \ChNameUpperCase
+ \ChTitleUpperCase
+ \ChNameVar{\raggedleft\normalsize\rm}
+ \ChNumVar{\raggedleft \bfseries\Large}
+ \ChTitleVar{\raggedleft \Large\rm}
+ \ChRuleWidth{1pt}
+
+
+%% Note thechapter -> c@chapter fix appendix bug
+%% Fixed misspelled 12
+
+ \newcounter{AlphaCnt}
+ \newcounter{AlphaDecCnt}
+ \newcommand{\AlphaNo}{%
+ \ifcase\number\theAlphaCnt
+ \ifnum\c@chapter=0
+ ZERO\else{}\fi
+ \or ONE\or TWO\or THREE\or FOUR\or FIVE
+ \or SIX\or SEVEN\or EIGHT\or NINE\or TEN
+ \or ELEVEN\or TWELVE\or THIRTEEN\or FOURTEEN\or FIFTEEN
+ \or SIXTEEN\or SEVENTEEN\or EIGHTEEN\or NINETEEN\fi
+}
+
+ \newcommand{\AlphaDecNo}{%
+ \setcounter{AlphaDecCnt}{0}
+ \@whilenum\number\theAlphaCnt>0\do
+ {\addtocounter{AlphaCnt}{-10}
+ \addtocounter{AlphaDecCnt}{1}}
+ \ifnum\number\theAlphaCnt=0
+ \else
+ \addtocounter{AlphaDecCnt}{-1}
+ \addtocounter{AlphaCnt}{10}
+ \fi
+
+
+ \ifcase\number\theAlphaDecCnt\or TEN\or TWENTY\or THIRTY\or
+ FORTY\or FIFTY\or SIXTY\or SEVENTY\or EIGHTY\or NINETY\fi
+ }
+ \newcommand{\TheAlphaChapter}{%
+
+ \ifinapp
+ \thechapter
+ \else
+ \setcounter{AlphaCnt}{\c@chapter}
+ \ifnum\c@chapter<20
+ \AlphaNo
+ \else
+ \AlphaDecNo\AlphaNo
+ \fi
+ \fi
+ }
+ \renewcommand{\DOCH}{%
+ \mghrulefill{\RW}\par\nobreak
+ \CNV\FmN{\@chapapp}\par\nobreak
+ \CNoV\TheAlphaChapter\par\nobreak
+ \vskip -1\baselineskip\vskip 5pt\mghrulefill{\RW}\par\nobreak
+ \vskip 20\p@
+ }
+ \renewcommand{\DOTI}[1]{%
+ \CTV\FmTi{#1}\par\nobreak
+ \vskip 40\p@
+ }
+ \renewcommand{\DOTIS}[1]{%
+ \CTV\FmTi{#1}\par\nobreak
+ \vskip 40\p@
+ }
+}
+
+\DeclareOption*{%
+ \PackageWarning{fancychapter}{unknown style option}
+ }
+
+\ProcessOptions* \relax
+
+\ifusecolor
+ \RequirePackage{color}
+\fi
+\def\@makechapterhead#1{%
+ \vspace*{50\p@}%
+ {\parindent \z@ \raggedright \normalfont
+ \ifnum \c@secnumdepth >\m@ne
+ \if@mainmatter%%%%% Fix for frontmatter, mainmatter, and backmatter 040920
+ \DOCH
+ \fi
+ \fi
+ \interlinepenalty\@M
+ \if@mainmatter%%%%% Fix for frontmatter, mainmatter, and backmatter 060424
+ \DOTI{#1}%
+ \else%
+ \DOTIS{#1}%
+ \fi
+ }}
+
+
+%%% Begin: To avoid problem with scrbook.cls (fncychap version 1.32)
+
+%%OUT:
+%\def\@schapter#1{\if@twocolumn
+% \@topnewpage[\@makeschapterhead{#1}]%
+% \else
+% \@makeschapterhead{#1}%
+% \@afterheading
+% \fi}
+
+%%IN:
+\def\@schapter#1{%
+\if@twocolumn%
+ \@makeschapterhead{#1}%
+\else%
+ \@makeschapterhead{#1}%
+ \@afterheading%
+\fi}
+
+%%% End: To avoid problem with scrbook.cls (fncychap version 1.32)
+
+\def\@makeschapterhead#1{%
+ \vspace*{50\p@}%
+ {\parindent \z@ \raggedright
+ \normalfont
+ \interlinepenalty\@M
+ \DOTIS{#1}
+ \vskip 40\p@
+ }}
+
+\endinput
+
+
diff --git a/docs/_build/latex/iftex.sty b/docs/_build/latex/iftex.sty
new file mode 100644
index 0000000000000000000000000000000000000000..7651466448f43ee1a8b2ba4417fba3d81b0de4bc
--- /dev/null
+++ b/docs/_build/latex/iftex.sty
@@ -0,0 +1,97 @@
+%%
+%% This is file `iftex.sty',
+
+%%
+%% __________________________________
+%% Copyright © 2010–2013 Persian TeX Group
+%%
+%% License information appended.
+%%
+%%
+\csname iftexloaded\endcsname
+\let\iftexloaded\endinput
+\expandafter\ifx\csname ProvidesPackage\endcsname\relax\else
+ \ProvidesPackage{iftex}
+ [2013/04/04 v0.2 Provides if(tex) conditional for PDFTeX, XeTeX, and LuaTeX]
+\fi
+\def\RequirePDFTeX{%
+ \ifPDFTeX\else
+ \begingroup
+ \errorcontextlines=-1\relax
+ \newlinechar=10\relax
+ \errmessage{^^J
+ ********************************************^^J
+ * PDFTeX is required to compile this document.^^J
+ * Sorry!^^J
+ ********************************************}%
+ \endgroup
+ \fi}
+\def\RequireXeTeX{%
+ \ifXeTeX\else
+ \begingroup
+ \errorcontextlines=-1\relax
+ \newlinechar=10\relax
+ \errmessage{^^J
+ ********************************************^^J
+ * XeTeX is required to compile this document.^^J
+ * Sorry!^^J
+ ********************************************}%
+ \endgroup
+ \fi}
+\def\RequireLuaTeX{%
+ \ifLuaTeX\else
+ \begingroup
+ \errorcontextlines=-1\relax
+ \newlinechar=10\relax
+ \errmessage{^^J
+ ********************************************^^J
+ * LuaTeX is required to compile this document.^^J
+ * Sorry!^^J
+ ********************************************}%
+ \endgroup
+ \fi}
+\expandafter\ifx\csname ifPDFTeX\endcsname\relax\else
+ \expandafter\endinput
+\fi
+\expandafter\ifx\csname ifXeTeX\endcsname\relax\else
+ \expandafter\endinput
+\fi
+\expandafter\ifx\csname ifLuaTeX\endcsname\relax\else
+ \expandafter\endinput
+\fi
+\newif\ifPDFTeX
+\begingroup\expandafter\expandafter\expandafter\endgroup
+\expandafter\ifx\csname pdfmatch\endcsname\relax
+ \PDFTeXfalse
+\else
+ \PDFTeXtrue
+\fi
+\newif\ifXeTeX
+\begingroup\expandafter\expandafter\expandafter\endgroup
+\expandafter\ifx\csname XeTeXinterchartoks\endcsname\relax
+ \XeTeXfalse
+\else
+ \XeTeXtrue
+\fi
+\newif\ifLuaTeX
+\begingroup\expandafter\expandafter\expandafter\endgroup
+\expandafter\ifx\csname directlua\endcsname\relax
+ \LuaTeXfalse
+\else
+ \LuaTeXtrue
+\fi
+%%
+%% Copyright © 2010–2013 by Persian TeX Group <persian-tex@tug.org>
+%%
+%% Distributable under the LaTeX Project Public License,
+%% version 1.3c or higher (your choice). The latest version of
+%% this license is at: http://www.latex-project.org/lppl.txt
+%%
+%% This work is "maintained" (as per LPPL maintenance status)
+%% by Persian TeX Group.
+%%
+%%
+%%
+%%
+%%
+%% End of file `iftex.sty'.
diff --git a/docs/_build/latex/needspace.sty b/docs/_build/latex/needspace.sty
new file mode 100644
index 0000000000000000000000000000000000000000..113d87216ff484dffd6768003fc1536fd955f637
--- /dev/null
+++ b/docs/_build/latex/needspace.sty
@@ -0,0 +1,35 @@
+
+\NeedsTeXFormat{LaTeX2e}
+\ProvidesPackage{needspace}[2010/09/12 v1.3d reserve vertical space]
+
+\newcommand{\needspace}[1]{%
+ \begingroup
+ \setlength{\dimen@}{#1}%
+ \vskip\z@\@plus\dimen@
+ \penalty -100\vskip\z@\@plus -\dimen@
+ \vskip\dimen@
+ \penalty 9999%
+ \vskip -\dimen@
+ \vskip\z@skip % hide the previous |\vskip| from |\addvspace|
+ \endgroup
+}
+
+\newcommand{\Needspace}{\@ifstar{\@sneedsp@}{\@needsp@}}
+
+\newcommand{\@sneedsp@}[1]{\par \penalty-100\begingroup
+ \setlength{\dimen@}{#1}%
+ \dimen@ii\pagegoal \advance\dimen@ii-\pagetotal
+ \ifdim \dimen@>\dimen@ii
+ \break
+ \fi\endgroup}
+
+\newcommand{\@needsp@}[1]{\par \penalty-100\begingroup
+ \setlength{\dimen@}{#1}%
+ \dimen@ii\pagegoal \advance\dimen@ii-\pagetotal
+ \ifdim \dimen@>\dimen@ii
+ \ifdim \dimen@ii>\z@
+ \vfil
+ \fi
+ \break
+ \fi\endgroup}
+
diff --git a/docs/_build/latex/newfloat.sty b/docs/_build/latex/newfloat.sty
new file mode 100644
index 0000000000000000000000000000000000000000..47ac5e568b08feef2a70a23d8c9ceded64ac42d1
--- /dev/null
+++ b/docs/_build/latex/newfloat.sty
@@ -0,0 +1,737 @@
+%%
+%% This is file `newfloat.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% newfloat.dtx (with options: `package')
+%%
+%% Copyright (C) 1994-2016 Axel Sommerfeldt (axel.sommerfeldt@f-m.fm)
+%%
+%% http://sourceforge.net/projects/latex-caption/
+%%
+%% --------------------------------------------------------------------------
+%%
+%% This work may be distributed and/or modified under the
+%% conditions of the LaTeX Project Public License, either version 1.3
+%% of this license or (at your option) any later version.
+%% The latest version of this license is in
+%% http://www.latex-project.org/lppl.txt
+%% and version 1.3 or later is part of all distributions of LaTeX
+%% version 2003/12/01 or later.
+%%
+%% This work has the LPPL maintenance status "maintained".
+%%
+%% This Current Maintainer of this work is Axel Sommerfeldt.
+%%
+%% This work consists of the files
+%% CHANGELOG, README, SUMMARY, caption.ins,
+%% caption.dtx, caption2.dtx, caption3.dtx,
+%% bicaption.dtx, ltcaption.dtx, subcaption.dtx,
+%% newfloat.dtx, and totalcount.dtx
+%% the derived files
+%% caption.sty, caption2.sty, caption3.sty,
+%% bicaption.sty, ltcaption.sty, subcaption.sty,
+%% newfloat.sty, and totalcount.sty
+%% and the user manuals
+%% caption-deu.tex, caption-eng.tex, and caption-rus.tex.
+%%
+\NeedsTeXFormat{LaTeX2e}[1994/12/01]
+\def\caption@tempa$Id: #1 #2 #3-#4-#5 #6${%
+ \def\caption@tempa{#3/#4/#5 }\def\caption@tempb{#2 }}
+\caption@tempa $Id: newfloat.dtx 109 2015-09-17 09:29:07Z sommerfeldt $
+\ProvidesPackage{newfloat}[\caption@tempa v1.1-\caption@tempb Defining new floating environments (AR)]
+\newcommand*\newfloat@Info[1]{%
+ \PackageInfo{newfloat}{#1}}
+\newcommand*\newfloat@InfoNoLine[1]{%
+ \newfloat@Info{#1\@gobble}}
+\newcommand*\newfloat@Error[1]{%
+ \PackageError{newfloat}{#1}\newfloat@eh}
+\newcommand*\newfloat@eh{%
+ If you do not understand this error, please take a closer look\MessageBreak
+ at the documentation of the `newfloat' package.\MessageBreak\@ehc}
+\RequirePackage{keyval}[1997/11/10]
+\newcommand*\newfloat@def[2]{%
+ \newfloat@ifundefined{#1}{%
+ \@namedef{#1}{#2}}}
+\newcommand*\newfloat@let[2]{%
+ \newfloat@ifundefined{#1}{%
+ \expandafter\let\csname #1\endcsname#2}}
+\newcommand*\newfloat@ifundefined[2]{%
+ \@ifundefined{#1}{#2}{%
+ \newfloat@Info{%
+ \expandafter\string\csname#1\endcsname\space is already defined}}}
+\newcommand*\DeclareFloatingEnvironment{%
+ \@testopt\@DeclareFloatingEnvironment{}}
+\@onlypreamble\DeclareFloatingEnvironment
+\def\@DeclareFloatingEnvironment[#1]#2{%
+ \newfloat@Info{New float `#2' with options `#1'}%
+ \newfloat@ifundefined{c@#2}{\newcounter{#2}}%
+ \ifdefined\c@float@type % from float package
+ \expandafter\edef\csname ftype@#2\endcsname{\the\value{float@type}}%
+ \addtocounter{float@type}{\value{float@type}}%
+ \else\ifdefined\c@newflo@tctr % from memoir document class
+ \expandafter\edef\csname ftype@#2\endcsname{\the\c@newflo@tctr}%
+ \advance\c@newflo@tctr \c@newflo@tctr
+ \else
+ \ifdefined\newfloat@ftype \else
+ \newcount\newfloat@ftype
+ \newfloat@ftype=8\relax
+ \fi
+ \expandafter\xdef\csname ftype@#2\endcsname{\the\newfloat@ftype}%
+ \advance\newfloat@ftype\newfloat@ftype
+ \fi\fi
+ \newfloat@Info{float type `#2'=\@nameuse{ftype@#2}}%
+ \newfloat@def{fnum@#2}%
+ {\@nameuse{#2name}\nobreakspace\@nameuse{the#2}\@nameuse{autodot}}%
+ \newfloat@capitalize\newfloat@Type{#2}%
+ \newfloat@let{#2name}{\newfloat@Type}%
+ \newfloat@def{fleg#2}{\@nameuse{#2name}}% legend naming (memoir)
+ \newfloat@ifundefined{flegtoc#2}{\@namedef{flegtoc#2}##1{}}%
+ \ifcsname @tufte@float\endcsname
+ \newenvironment{#2}[1][htbp]%
+ {\begin{@tufte@float}[##1]{#2}{}}%
+ {\end{@tufte@float}}%
+ \newenvironment{#2*}[1][htbp]%
+ {\begin{@tufte@float}[##1]{#2}{star}}%
+ {\end{@tufte@float}}%
+ \else
+ \newenvironment{#2}{\@float{#2}}{\end@float}%
+ \newenvironment{#2*}{\@dblfloat{#2}}{\end@dblfloat}%
+ \fi
+ \newfloat@def{listof#2}{\newfloat@listof{#2}}%
+ \newfloat@def{listof#2s}{\@nameuse{listof#2}}%
+ \newfloat@def{listof#2es}{\@nameuse{listof#2s}}%
+ \newfloat@def{newfloat@listof#2@hook}{}%
+ \ifdefined\l@figure
+ \newfloat@let{l@#2}{\l@figure}%
+ \else
+ \newfloat@def{l@#2}{\@dottedtocline{1}{1.5em}{2.3em}}%
+ \fi
+ \edef\newfloat@tempa{List of \newfloat@Type s}%
+ \newfloat@let{list#2name}{\newfloat@tempa}%
+ \expandafter\let\csname fst@#2\endcsname\@undefined
+ \newfloat@ifundefined{fps@#2}{\newfloat@setplacement{#2}{tbp}}%
+ \newfloat@ifundefined{ext@#2}{\newfloat@setfileext{#2}{lo#2}}%
+ \newfloat@setoptions*{#2}{#1}%
+ \@expandtwoargs\newfloat@announce{#2}{\@nameuse{ext@#2}}%
+ \@ifnextchar[\newfloat@DFE@setname\relax}
+\@onlypreamble\@DeclareFloatingEnvironment
+\def\newfloat@DFE@setname[#1]{%
+ \KV@@newfloat@name{#1}%
+ \@ifnextchar[\newfloat@DFE@setlistname\relax}
+\@onlypreamble\newfloat@DFE@setname
+\def\newfloat@DFE@setlistname[#1]{%
+ \KV@@newfloat@listname{#1}}
+\@onlypreamble\newfloat@DFE@setlistname
+\newcommand*\newfloat@capitalize[2]{%
+ \edef\newfloat@tempa{\gdef\noexpand#1{\@car#2\@nil}}%
+ \uppercase\expandafter{\newfloat@tempa}%
+ \edef\newfloat@tempa{%
+ \noexpand\g@addto@macro\noexpand#1{\@cdr#2\@nil}}%
+ \newfloat@tempa}
+\newcommand*\newfloat@listof[1]{%
+ \@expandtwoargs\newfloat@list@of{#1}{\@nameuse{ext@#1}}}
+\newcommand*\newfloat@list@of[2]{%
+ \begingroup
+ \expandafter\let\expandafter\listfigurename\csname list#1name\endcsname
+ \def\ext@figure{#2}%
+ \let\newfloat@starttoc\@starttoc
+ \def\@starttoc##1{\newfloat@starttoc{#2}}%
+ \let\newfloat@listoftoc\listoftoc
+ \def\listoftoc##1{\newfloat@listoftoc{#2}}%
+ \@nameuse{newfloat@listof#1@hook}%
+ \listoffigures
+ \endgroup}
+\newcommand*\newfloat@setoptions{%
+ \@ifstar
+ {\newfloat@@setoptions\@firstofone}%
+ {\newfloat@@setoptions\@gobble}}
+\newcommand*\newfloat@@setoptions[3]{%
+ \let\newfloat@within@value\@undefined
+ \let\newfloat@chapterlistsgaps@value\@undefined
+ #1{\KV@@newfloat@within\newfloat@within@default}% set default value for new floats
+ \def\newfloat@type{#2}%
+ \setkeys{@newfloat}{#3}%
+ \ifx\newfloat@within@value\@undefined \else
+ \newfloat@setoption{within}\newfloat@within@value
+ \fi
+ \ifx\newfloat@chapterlistsgaps@value\@undefined \else
+ \newfloat@setoption{chapterlistsgaps}\newfloat@chapterlistsgaps@value
+ \fi}
+\newcommand*\newfloat@within@default{%
+ \ifcsname c@chapter\endcsname chapter\else none\fi}
+\@onlypreamble\newfloat@within@default
+\newcommand*\newfloat@setoption[1]{%
+ \edef\caption@tempa{\noexpand\@nameuse{newfloat@set#1}{\newfloat@type}}%
+ \caption@tempa}
+\newcommand*\newfloat@setfileext[2]{%
+ \@namedef{ext@#1}{#2}}
+\define@key{@newfloat}{fileext}{%
+ \newfloat@setoption{fileext}{#1}}
+\newcommand*\newfloat@setlistname[2]{%
+ \@namedef{list#1name}{#2}}
+\define@key{@newfloat}{listname}{%
+ \newfloat@setoption{listname}{#1}}
+\newcommand*\newfloat@setname[2]{%
+ \newfloat@@setname{#1}{#2}%
+ \begingroup
+ \ifcsname languagename\endcsname
+ \ifcsname captions\languagename\endcsname
+ \expandafter\g@addto@macro\csname captions\languagename\endcsname
+ {\newfloat@@setname{#1}{#2}}%
+ \fi
+ \fi
+ \endgroup}
+%%\AtBeginDocument{\let\newfloat@setname\newfloat@@setname}
+\newcommand*\newfloat@@setname[2]{%
+ \@namedef{#1name}{#2}}
+\define@key{@newfloat}{name}{%
+ \newfloat@setoption{name}{#1}}
+\newcommand*\newfloat@setplacement[2]{%
+ \@namedef{fps@#1}{#2}}
+\define@key{@newfloat}{placement}{%
+ \newfloat@setoption{placement}{#1}}
+\newcommand*\newfloat@setwithin[2]{%
+ \ifcsname c@chapter\endcsname
+ \@removefromreset{#1}{chapter}%
+ \fi
+ \@removefromreset{#1}{section}%
+ \edef\@tempa{#2}%
+ \ifx\@tempa\@empty
+ \def\@tempa{none}%
+ \fi
+ \def\@tempb{none}%
+ \ifx\@tempa\@tempb
+ \ifcsname c@chapter\endcsname
+ \@chapterlistsgap@off{#1}%
+ \fi
+ \newfloat@@setwithin{#1}{}{}%
+ \else
+ \def\@tempb{chapter}%
+ \ifx\@tempa\@tempb
+ \@addtoreset{#1}{chapter}%
+ \@chapterlistsgap@on{#1}%
+ \newfloat@@setwithin{#1}{\ifnum\c@chapter>\z@ \thechapter.\fi}{\theHchapter.}%
+ \else
+ \def\@tempb{section}%
+ \ifx\@tempa\@tempb
+ \@addtoreset{#1}{section}%
+ \ifcsname c@chapter\endcsname
+ \@addtoreset{#1}{chapter}%
+ \@chapterlistsgap@on{#1}%
+ \newfloat@@setwithin{#1}{\thesection.}{\theHsection.}%
+ \else
+ \newfloat@@setwithin{#1}{\ifnum\c@section>\z@ \thesection.\fi}{\theHsection.}%
+ \fi
+ \else
+ \newfloat@Error{Invalid value `#2' for option `within'}%
+ \fi
+ \fi
+ \fi}
+\newcommand*\newfloat@@setwithin[3]{%
+ \global\@namedef{the#1}{#2\arabic{#1}}%
+ \global\@namedef{theH#1}{#3\arabic{#1}}}
+\define@key{@newfloat}{within}{%
+ \def\newfloat@within@value{#1}}
+\newcommand*\newfloat@setwithout[1]{%
+ \newfloat@setwithin{#1}{none}}
+\define@key{@newfloat}{without}[]{%
+ \def\newfloat@within@value{none}}
+\newcommand*\newfloat@setchapterlistsgaps[2]{%
+ \edef\@tempa{#2}%
+ \def\@tempb{off}%
+ \ifx\@tempa\@tempb
+ \@chapterlistsgap@off{#1}%
+ \else
+ \def\@tempb{on}%
+ \ifx\@tempa\@tempb
+ \@chapterlistsgap@on{#1}%
+ \else
+ \newfloat@Error{Invalid value `#2' for option `chapterlistsgaps'}%
+ \fi
+ \fi}
+\define@key{@newfloat}{chapterlistsgaps}{%
+ \def\newfloat@chapterlistsgaps@value{#1}}
+\providecommand*\@removefromreset[2]{{%
+ \expandafter\let\csname c@#1\endcsname\@removefromreset
+ \def\@elt##1{%
+ \expandafter\ifx\csname c@##1\endcsname\@removefromreset
+ \else
+ \noexpand\@elt{##1}%
+ \fi}%
+ \expandafter\xdef\csname cl@#2\endcsname{%
+ \csname cl@#2\endcsname}}}
+\newcommand*\newfloat@announce[2]{%
+ \@cons\newfloat@list{{#1}}%
+ \@cons\newfloat@@list{{#1}}%
+ \newfloat@ifundefined{newfloat@ext@#2}{%
+ \@namedef{newfloat@ext@#2}{#1}%
+ \ifcsname c@lofdepth\endcsname
+ \newfloat@ifundefined{c@#2depth}{%
+ \newcounter{#2depth}%
+ \setcounter{#2depth}{1}}%
+ \fi
+ \ifcsname addtotoclist\endcsname
+ \addtotoclist[float]{#2}%
+ \newfloat@def{listof#2name}{\@nameuse{list#1name}}%
+ \fi
+ }%
+ \ifcsname contentsuse\endcsname
+ \contentsuse{#1}{#2}%
+ \fi
+ \newfloat@hook{#1}}
+\@onlypreamble\newfloat@announce
+\newcommand*\newfloat@@list{}
+\newcommand*\SetupFloatingEnvironment[1]{%
+ \newfloat@addtolist{#1}%
+ \newfloat@setoptions{#1}}
+\newcommand\ForEachFloatingEnvironment{%
+ \@ifstar
+ {\@ForEachFloatingEnvironment\@gobble}%
+ {\@ForEachFloatingEnvironment\@iden}}
+\newcommand\@ForEachFloatingEnvironment[2]{%
+ \def\@elt##1{#2}%
+ \newfloat@list
+ \let\@elt\relax
+ #1{\newfloat@addtohook{#2}}}
+\providecommand\newfloat@addtohook[1]{%
+ \toks@=\expandafter{\newfloat@hook{##1}#1}%
+ \edef\@tempa{\def\noexpand\newfloat@hook####1{\the\toks@}}%
+ \@tempa}
+\providecommand*\newfloat@hook[1]{}
+\newcommand\PrepareListOf[1]{%
+ \expandafter\g@addto@macro\csname newfloat@listof#1@hook\endcsname}
+\@onlypreamble\PrepareListOf
+\newcommand*\newfloat@list{}
+\newcommand*\newfloat@addtolist[1]{%
+ \newfloat@ifinlist{#1}{}{%
+ \ifcsname ext@#1\endcsname
+ \@cons\newfloat@list{{#1}}%
+ \@namedef{newfloat@ext@\@nameuse{ext@#1}}{#1}%
+ \newfloat@let{@ifchapterlistsgap@#1}{\@iden}%
+ \else
+ \newfloat@Error{`#1' does not seem to be a floating environment}%
+ \fi}}
+\newcommand*\newfloat@ifinlist[1]{%
+ \let\next\@secondoftwo
+ \begingroup
+ \expandafter\let\csname c@#1\endcsname\newfloat@ifinlist
+ \def\@elt##1{%
+ \expandafter\ifx\csname c@##1\endcsname\newfloat@ifinlist
+ \global\let\next\@firstoftwo
+ \fi}%
+ \newfloat@list
+ \endgroup
+ \next}
+\ifcsname ext@figure\endcsname
+ \newfloat@addtolist{figure}
+\fi
+\ifcsname ext@table\endcsname
+ \newfloat@addtolist{table}
+\fi
+\ifcsname @chapter\endcsname
+ \providecommand*\@chapterlistsgap{10\p@}%
+ \providecommand*\@addchapterlistsgap[2]{%
+ \@nameuse{@ifchapterlistsgap@#1}{% if switched on
+ \@@addchapterlistsgap{#1}{#2}}}
+ \providecommand*\@@addchapterlistsgap[2]{%
+ \@ifundefined{@addchapterlistsgap@#2}{% only once per extension
+ \@namedef{@addchapterlistsgap@#2}{#1}%
+ \@@@addchapterlistsgap{#2}}{}}
+ \providecommand*\@@@addchapterlistsgap[1]{%
+ \ifdim \@chapterlistsgap>\z@
+ \addtocontents{#1}{\protect\addvspace{\@chapterlistsgap}}%
+ \fi}
+ \providecommand*\@addchapterlistsgaps{%
+ \begingroup
+ \def\@elt##1{%
+ \@expandtwoargs\@addchapterlistsgap{##1}{\@nameuse{ext@##1}}}%
+ \newfloat@list
+ \endgroup}
+ \providecommand*\@chapterlistsgap@off[1]{%
+ \expandafter\let\csname @ifchapterlistsgap@#1\endcsname\@gobble
+ \ifcsname unsettoc\endcsname
+ \@expandtwoargs\unsettoc{\@nameuse{ext@#1}}{chapteratlist}%
+ \fi}
+ \providecommand*\@chapterlistsgap@on[1]{%
+ \expandafter\let\csname @ifchapterlistsgap@#1\endcsname\@iden
+ \ifcsname setuptoc\endcsname
+ \@expandtwoargs\setuptoc{\@nameuse{ext@#1}}{chapteratlist}%
+ \fi}
+\fi
+\define@key{newfloat}{chapterlistsgap}{%
+ \renewcommand*\@chapterlistsgap{#1}}
+\define@key{newfloat}{within}{%
+ \def\newfloat@within@default{#1}% set new default value
+ \def\@elt##1{\newfloat@setwithin{##1}{#1}}%
+ \newfloat@list
+ \let\@elt\relax}
+\define@key{newfloat}{without}[]{%
+ \KV@newfloat@within{none}}
+\def\@elt#1{%
+ \define@key{newfloat}{#1name}{%
+ \newfloat@setname{#1}{##1}}%
+ \define@key{newfloat}{list#1name}{%
+ \newfloat@setname{list#1}{##1}}%
+ \define@key{newfloat}{#1within}{%
+ \newfloat@setwithin{#1}{##1}}%
+ \define@key{newfloat}{#1without}[]{%
+ \newfloat@setwithout{#1}}%
+}%
+\newfloat@list
+\let\@elt\relax
+\define@key{newfloat}{planb}[true]{%
+ \def\@tempa{#1}%
+ \def\@tempb{false}%
+ \ifx\@tempa\@tempb
+ \let\newfloat@ifplanb\@gobble
+ \else
+ \def\@tempb{true}%
+ \ifx\@tempa\@tempb
+ \let\newfloat@ifplanb\@iden
+ \else
+ \newfloat@Error{Invalid value `#1' for option `planb'}%
+ \fi
+ \fi}
+\define@key{newfloat}{planb-fileext}{%
+ \newfloat@Info{Setting Plan B file extension to `#1'}
+ \xdef\newfloat@addtocontents@ext{#1}}
+
+\let\@tempc\relax
+\@expandtwoargs\setkeys{newfloat}{planb,\@ptionlist{\@currname.\@currext}}%
+\AtEndOfPackage{\let\@unprocessedoptions\relax}
+\newcommand*\newfloatsetup{\setkeys{newfloat}}
+\newcommand\newfloat@replace@chapter[2]{%
+ \begingroup
+ \let\if@twocolumn\iffalse
+ \let\if@mainmatter\iffalse
+ \let\if@thema\iffalse
+ \def\@tempa[##1]##2{#1}%
+ \ifx\@tempa\@chapter
+ \gdef\@chapter[##1]##2{#2}%
+ \global\let\newfloat@replace@chapter\@gobbletwo
+ \else\ifx\@tempa\Hy@org@chapter
+ \gdef\Hy@org@chapter[##1]##2{#2}%
+ \global\let\newfloat@replace@chapter\@gobbletwo
+ \fi\fi
+ \endgroup}
+\ifcsname @chapter\endcsname \else
+ \let\newfloat@replace@chapter\@gobbletwo
+\fi
+\newfloat@replace@chapter{%
+ \ifnum \c@secnumdepth >\m@ne
+ \refstepcounter{chapter}%
+ \typeout{\@chapapp\space\thechapter.}%
+ \addcontentsline{toc}{chapter}%
+ {\protect\numberline{\thechapter}#1}%
+ \else
+ \addcontentsline{toc}{chapter}{#1}%
+ \fi
+ \chaptermark{#1}%
+ \addtocontents{lof}{\protect\addvspace{10\p@}}%
+ \addtocontents{lot}{\protect\addvspace{10\p@}}%
+ \if@twocolumn
+ \@topnewpage[\@makechapterhead{#2}]%
+ \else
+ \@makechapterhead{#2}%
+ \@afterheading
+ \fi
+}{%
+ \ifnum \c@secnumdepth >\m@ne
+ \refstepcounter{chapter}%
+ \typeout{\@chapapp\space\thechapter.}%
+ \addcontentsline{toc}{chapter}%
+ {\protect\numberline{\thechapter}#1}%
+ \else
+ \addcontentsline{toc}{chapter}{#1}%
+ \fi
+ \chaptermark{#1}%
+ \@addchapterlistsgaps
+ \if@twocolumn
+ \@topnewpage[\@makechapterhead{#2}]%
+ \else
+ \@makechapterhead{#2}%
+ \@afterheading
+ \fi}
+\newfloat@replace@chapter{%
+ \ifnum \c@secnumdepth >\m@ne
+ \if@mainmatter
+ \refstepcounter{chapter}%
+ \typeout{\@chapapp\space\thechapter.}%
+ \addcontentsline{toc}{chapter}%
+ {\protect\numberline{\thechapter}#1}%
+ \else
+ \addcontentsline{toc}{chapter}{#1}%
+ \fi
+ \else
+ \addcontentsline{toc}{chapter}{#1}%
+ \fi
+ \chaptermark{#1}%
+ \addtocontents{lof}{\protect\addvspace{10\p@}}%
+ \addtocontents{lot}{\protect\addvspace{10\p@}}%
+ \if@twocolumn
+ \@topnewpage[\@makechapterhead{#2}]%
+ \else
+ \@makechapterhead{#2}%
+ \@afterheading
+ \fi
+}{%
+ \ifnum \c@secnumdepth >\m@ne
+ \if@mainmatter
+ \refstepcounter{chapter}%
+ \typeout{\@chapapp\space\thechapter.}%
+ \addcontentsline{toc}{chapter}%
+ {\protect\numberline{\thechapter}#1}%
+ \else
+ \addcontentsline{toc}{chapter}{#1}%
+ \fi
+ \else
+ \addcontentsline{toc}{chapter}{#1}%
+ \fi
+ \chaptermark{#1}%
+ \@addchapterlistsgaps
+ \if@twocolumn
+ \@topnewpage[\@makechapterhead{#2}]%
+ \else
+ \@makechapterhead{#2}%
+ \@afterheading
+ \fi}
+\newfloat@replace@chapter{%
+ \refstepcounter{chapter}%
+ \ifnum\c@secnumdepth<\z@ \let\@secnumber\@empty
+ \else \let\@secnumber\thechapter \fi
+ \typeout{\chaptername\space\@secnumber}%
+ \def\@toclevel{0}%
+ \ifx\chaptername\appendixname \@tocwriteb\tocappendix{chapter}{#2}%
+ \else \@tocwriteb\tocchapter{chapter}{#2}\fi
+ \chaptermark{#1}%
+ \addtocontents{lof}{\protect\addvspace{10\p@}}%
+ \addtocontents{lot}{\protect\addvspace{10\p@}}%
+ \@makechapterhead{#2}\@afterheading
+}{%
+ \refstepcounter{chapter}%
+ \ifnum\c@secnumdepth<\z@ \let\@secnumber\@empty
+ \else \let\@secnumber\thechapter \fi
+ \typeout{\chaptername\space\@secnumber}%
+ \def\@toclevel{0}%
+ \ifx\chaptername\appendixname \@tocwriteb\tocappendix{chapter}{#2}%
+ \else \@tocwriteb\tocchapter{chapter}{#2}\fi
+ \chaptermark{#1}%
+ \@addchapterlistsgaps
+ \@makechapterhead{#2}\@afterheading}
+\@ifpackageloaded{tocbasic}{%
+ \let\newfloat@replace@chapter\@gobbletwo}{}
+\ifcsname insertchapterspace\endcsname
+ \renewcommand*\insertchapterspace{\@addchapterlistsgaps}
+ \let\newfloat@replace@chapter\@gobbletwo
+\fi
+\newfloat@replace@chapter{%
+ \ifnum \c@secnumdepth >\m@ne
+ \refstepcounter{chapter}%
+ \typeout{\@chapapp\space\thechapter.}%
+ \addcontentsline{toc}{chapter}%
+ {\protect\numberline{\thechapter}\toc@font0 #1}%
+ \else
+ \addcontentsline{toc}{chapter}{\toc@font0 #1}%
+ \fi
+ \chaptermark{#1}%
+ \addtocontents{lof}{\protect\addvspace{10\p@}}%
+ \addtocontents{lot}{\protect\addvspace{10\p@}}%
+ \if@twocolumn
+ \@topnewpage[\@makechapterhead{#2}]%
+ \else
+ \@makechapterhead{#2}%
+ \@afterheading
+ \fi
+}{%
+ \ifnum \c@secnumdepth >\m@ne
+ \refstepcounter{chapter}%
+ \typeout{\@chapapp\space\thechapter.}%
+ \addcontentsline{toc}{chapter}%
+ {\protect\numberline{\thechapter}\toc@font0 #1}%
+ \else
+ \addcontentsline{toc}{chapter}{\toc@font0 #1}%
+ \fi
+ \chaptermark{#1}%
+ \@addchapterlistsgaps
+ \if@twocolumn
+ \@topnewpage[\@makechapterhead{#2}]%
+ \else
+ \@makechapterhead{#2}%
+ \@afterheading
+ \fi}
+ % boek(3).cls [2004/06/07 v2.1a NTG LaTeX document class]
+\newfloat@replace@chapter{%
+ \ifnum \c@secnumdepth >\m@ne
+ \if@mainmatter
+ \refstepcounter{chapter}%
+ \typeout{\@chapapp\space\thechapter.}%
+ \addcontentsline{toc}{chapter}%
+ {\protect\numberline{\thechapter}\toc@font0 #1}%
+ \else
+ \addcontentsline{toc}{chapter}{\toc@font0 #1}%
+ \fi
+ \else
+ \addcontentsline{toc}{chapter}{\toc@font0 #1}%
+ \fi
+ \chaptermark{#1}%
+ \addtocontents{lof}{\protect\addvspace{10\p@}}%
+ \addtocontents{lot}{\protect\addvspace{10\p@}}%
+ \if@twocolumn
+ \@topnewpage[\@makechapterhead{#2}]%
+ \else
+ \@makechapterhead{#2}%
+ \@afterheading
+ \fi
+}{%
+ \ifnum \c@secnumdepth >\m@ne
+ \if@mainmatter
+ \refstepcounter{chapter}%
+ \typeout{\@chapapp\space\thechapter.}%
+ \addcontentsline{toc}{chapter}%
+ {\protect\numberline{\thechapter}\toc@font0 #1}%
+ \else
+ \addcontentsline{toc}{chapter}{\toc@font0 #1}%
+ \fi
+ \else
+ \addcontentsline{toc}{chapter}{\toc@font0 #1}%
+ \fi
+ \chaptermark{#1}%
+ \@addchapterlistsgaps
+ \if@twocolumn
+ \@topnewpage[\@makechapterhead{#2}]%
+ \else
+ \@makechapterhead{#2}%
+ \@afterheading
+ \fi}
+\newfloat@replace@chapter{%
+ \ifnum \c@secnumdepth >\m@ne
+ \if@mainmatter
+ \refstepcounter{chapter}%
+ \typeout{\chaptername\space\thechapter.}
+ \if@thema
+ \ifx\@shortauthor\@empty
+ \addcontentsline{toc}{chapter}{%
+ \protect\numberline{\thechapter.}#1}%
+ \else
+ \addcontentsline{toc}{chapter}{%
+ \protect\numberline{\thechapter.}%
+ \@shortauthor\hfill\mbox{}\vskip\normallineskip #1}%
+ \fi
+ \else
+ \addcontentsline{toc}{chapter}{%
+ \protect\numberline{\thechapter.}#1}%
+ \fi
+ \else
+ \addcontentsline{toc}{chapter}{#1}
+ \fi
+ \else
+ \addcontentsline{toc}{chapter}{#1}
+ \fi
+ \chaptermark{#1}
+ \addtocontents{lof}{\protect\addvspace{10pt}}
+ \addtocontents{lot}{\protect\addvspace{10pt}}
+ \if@twocolumn
+ \@topnewpage[\@makechapterhead{#2}]
+ \else
+ \@makechapterhead{#2}
+ \@afterheading
+ \fi
+}{%
+ \ifnum \c@secnumdepth >\m@ne
+ \if@mainmatter
+ \refstepcounter{chapter}%
+ \typeout{\chaptername\space\thechapter.}%
+ \if@thema
+ \ifx\@shortauthor\@empty
+ \addcontentsline{toc}{chapter}{%
+ \protect\numberline{\thechapter.}#1}%
+ \else
+ \addcontentsline{toc}{chapter}{%
+ \protect\numberline{\thechapter.}%
+ \@shortauthor\hfill\mbox{}\vskip\normallineskip #1}%
+ \fi
+ \else
+ \addcontentsline{toc}{chapter}{%
+ \protect\numberline{\thechapter.}#1}%
+ \fi
+ \else
+ \addcontentsline{toc}{chapter}{#1}%
+ \fi
+ \else
+ \addcontentsline{toc}{chapter}{#1}%
+ \fi
+ \chaptermark{#1}%
+ \@addchapterlistsgaps
+ \if@twocolumn
+ \@topnewpage[\@makechapterhead{#2}]%
+ \else
+ \@makechapterhead{#2}%
+ \@afterheading
+ \fi}
+\ifx\newfloat@replace@chapter\@gobbletwo \else
+ \newfloat@InfoNoLine{%
+ Unsupported document class, or \noexpand\@chapter\MessageBreak
+ was already redefined by another package}
+ \newfloat@InfoNoLine{\string\@chapter\space=\space\meaning\@chapter}
+ \newfloat@InfoNoLine{\string\Hy@org@chapter\space=\space\meaning\Hy@org@chapter}
+ \newfloat@ifplanb{%
+ \newfloat@InfoNoLine{Trying Plan B..}%
+ \let\newfloat@addtocontents@ORI\addtocontents
+ \long\def\addtocontents#1#2{%
+ \newfloat@addtocontents{#1}{#2}#2\addvspace\newfloat@nil}%
+ \long\def\newfloat@addtocontents#1#2#3\addvspace#4\newfloat@nil{%
+ \def\newfloat@tempa{#4}%
+ \ifx\newfloat@tempa\@empty
+ \newfloat@addtocontents@ORI{#1}{#2}%
+ \else
+ \ifx\newfloat@addtocontents@ext\@undefined
+ \newfloat@Info{Setting Plan B file extension to `#1'...}%
+ \xdef\newfloat@addtocontents@ext{#1}%
+ \fi
+ \edef\newfloat@tempa{#1}%
+ \ifx\newfloat@tempa\newfloat@addtocontents@ext
+ \begingroup
+ \let\addtocontents\newfloat@addtocontents@ORI
+ \@addchapterlistsgaps
+ \endgroup
+ \fi
+ \fi}}
+\fi
+\newcommand\newfloat@ForEachNew[2][newfloat@@list]{%
+ \AtBeginDocument{%
+ \ifcsname#1\endcsname
+ \def\@elt##1{#2}%
+ \newfloat@@list
+ \let\@elt\relax
+ \fi}}%
+\@onlypreamble\newfloat@ForEachNew
+%% \begin{macrocode}
+\newfloat@ForEachNew[float@exts]{%
+ \@nameuse{@ifchapterlistsgap@#1}{% if switched on
+ \let\float@do=\relax
+ \edef\@tempa{%
+ \noexpand\float@exts{\the\float@exts\float@do{\@nameuse{ext@#1}}}}%
+ \@tempa}}
+\newfloat@ForEachNew[FP@floatBegin]{%
+ \newcounter{FP@#1C}%
+ \newenvironment{FP#1}{\FP@floatBegin{#1}}{\FP@floatEnd}}
+\providecommand*\ext@lstlisting{lol}%
+\newfloat@ForEachNew[@rotfloat]{%
+ \newenvironment{sideways#1}{\@rotfloat{#1}}{\end@rotfloat}%
+ \newenvironment{sideways#1*}{\@rotdblfloat{#1}}{\end@rotdblfloat}}
+\newcommand*\newfloat@For@SC[2]{%
+ \def#1{b}% = \sidecaptionvpos{#2}{b} (v1.6)
+ \newenvironment{SC#2}%
+ {\SC@float[#1]{#2}}{\endSC@float}%
+ \newenvironment{SC#2*}%
+ {\SC@dblfloat[#1]{#2}}{\endSC@dblfloat}}
+\@onlypreamble\newfloat@For@SC
+\newfloat@ForEachNew[SC@float]{%
+ \expandafter\newfloat@For@SC\csname SC@#1@vpos\endcsname{#1}}
+\newfloat@ForEachNew[wrapfloat]{%
+ \newenvironment{wrap#1}{\wrapfloat{#1}}{\endwrapfloat}}
+\endinput
+%%
+%% End of file `newfloat.sty'.
diff --git a/docs/_build/latex/python.ist b/docs/_build/latex/python.ist
new file mode 100644
index 0000000000000000000000000000000000000000..9ffa0f959f9e60e18c3a7f5fcd518a34964bf68c
--- /dev/null
+++ b/docs/_build/latex/python.ist
@@ -0,0 +1,11 @@
+line_max 100
+headings_flag 1
+heading_prefix " \\bigletter "
+
+preamble "\\begin{theindex}
+\\def\\bigletter#1{{\\Large\\sffamily#1}\\nopagebreak\\vspace{1mm}}
+
+"
+
+symhead_positive "{Symbols}"
+numhead_positive "{Numbers}"
diff --git a/docs/_build/latex/sphinx.sty b/docs/_build/latex/sphinx.sty
new file mode 100644
index 0000000000000000000000000000000000000000..d025a07973265e5d4af5204b76df78a316ab5161
--- /dev/null
+++ b/docs/_build/latex/sphinx.sty
@@ -0,0 +1,917 @@
+%
+% sphinx.sty
+%
+% Adapted from the old python.sty, mostly written by Fred Drake,
+% by Georg Brandl.
+%
+
+\NeedsTeXFormat{LaTeX2e}[1995/12/01]
+\ProvidesPackage{sphinx}[2010/01/15 LaTeX package (Sphinx markup)]
+
+% this is the \ltx@ifundefined of ltxcmds.sty, which is loaded by
+% hyperref.sty, but we need it before, and initial ltxcmds.sty
+% as in TL2009/Debian had wrong definition.
+\newcommand{\spx@ifundefined}[1]{%
+ \ifcsname #1\endcsname
+ \expandafter\ifx\csname #1\endcsname\relax
+ \expandafter\expandafter\expandafter\@firstoftwo
+ \else
+ \expandafter\expandafter\expandafter\@secondoftwo
+ \fi
+ \else
+ \expandafter\@firstoftwo
+ \fi
+}
+
+\@ifclassloaded{memoir}{}{\RequirePackage{fancyhdr}}
+
+% for \text macro and \iffirstchoice@ conditional even if amsmath not loaded
+\RequirePackage{amstext}
+\RequirePackage{textcomp}
+% fancybox not used anymore and will be removed at Sphinx-1.5
+\RequirePackage{fancybox}
+\RequirePackage{titlesec}
+\RequirePackage{tabulary}
+\RequirePackage{makeidx}
+% For framing code-blocks and warning type notices, and shadowing topics
+\RequirePackage{framed}
+\newif\ifspx@inframed % flag set if we are in a framed environment
+% ifthen not used anymore and will be removed at Sphinx-1.5
+\RequirePackage{ifthen}
+% The xcolor package draws better fcolorboxes around verbatim code
+\IfFileExists{xcolor.sty}{
+ \RequirePackage{xcolor}
+}{
+ \RequirePackage{color}
+}
+% For highlighted code.
+\RequirePackage{fancyvrb}
+% For table captions.
+\RequirePackage{threeparttable}
+% Handle footnotes in tables.
+\RequirePackage{footnote}
+\makesavenoteenv{tabulary}
+% For floating figures in the text.
+\RequirePackage{wrapfig}
+% Separate paragraphs by space by default.
+\RequirePackage{parskip}
+% For parsed-literal blocks.
+\RequirePackage{alltt}
+% Display "real" single quotes in literal blocks.
+\RequirePackage{upquote}
+% For the H specifier. Do not \restylefloat{figure}, it breaks Sphinx code
+% for allowing figures in tables.
+\RequirePackage{float}
+
+% Redefine these colors to your liking in the preamble.
+\definecolor{TitleColor}{rgb}{0.126,0.263,0.361}
+\definecolor{InnerLinkColor}{rgb}{0.208,0.374,0.486}
+\definecolor{OuterLinkColor}{rgb}{0.216,0.439,0.388}
+% Redefine these colors to something if you want to have colored
+% background and border for code examples.
+\definecolor{VerbatimColor}{rgb}{1,1,1}
+\definecolor{VerbatimBorderColor}{rgb}{0,0,0}
+
+% Uncomment these two lines to ignore the paper size and make the page
+% size more like a typical published manual.
+%\renewcommand{\paperheight}{9in}
+%\renewcommand{\paperwidth}{8.5in} % typical squarish manual
+%\renewcommand{\paperwidth}{7in} % O'Reilly ``Programmming Python''
+
+% use pdfoutput for pTeX and dvipdfmx
+% when pTeX (\kanjiskip is defined), set pdfoutput to evade \include{pdfcolor}
+\ifx\kanjiskip\undefined\else
+ \newcount\pdfoutput\pdfoutput=0
+\fi
+
+\RequirePackage{graphicx}
+
+% for PDF output, use colors and maximal compression
+\newif\ifsphinxpdfoutput % used in \maketitle
+\ifx\pdfoutput\undefined\else
+ \ifnum\pdfoutput=\z@
+ \let\py@NormalColor\relax
+ \let\py@TitleColor\relax
+ \else
+ \sphinxpdfoutputtrue
+ \input{pdfcolor}
+ \def\py@NormalColor{\color[rgb]{0.0,0.0,0.0}}
+ \def\py@TitleColor{\color{TitleColor}}
+ \pdfcompresslevel=9
+ \fi
+\fi
+
+% XeLaTeX can do colors, too
+\ifx\XeTeXrevision\undefined\else
+ \def\py@NormalColor{\color[rgb]{0.0,0.0,0.0}}
+ \def\py@TitleColor{\color{TitleColor}}
+\fi
+
+% Increase printable page size (copied from fullpage.sty)
+\topmargin 0pt
+\advance \topmargin by -\headheight
+\advance \topmargin by -\headsep
+
+% attempt to work a little better for A4 users
+\textheight \paperheight
+\advance\textheight by -2in
+
+\oddsidemargin 0pt
+\evensidemargin 0pt
+%\evensidemargin -.25in % for ``manual size'' documents
+\marginparwidth 0.5in
+
+\textwidth \paperwidth
+\advance\textwidth by -2in
+
+
+% Style parameters and macros used by most documents here
+\raggedbottom
+\sloppy
+\hbadness = 5000 % don't print trivial gripes
+
+\pagestyle{empty} % start this way
+
+% Use this to set the font family for headers and other decor:
+\newcommand{\py@HeaderFamily}{\sffamily\bfseries}
+\newcommand{\sphinxSetHeaderFamily}[1]{\renewcommand{\py@HeaderFamily}{#1}}
+
+% Redefine the 'normal' header/footer style when using "fancyhdr" package:
+\spx@ifundefined{fancyhf}{}{
+ % Use \pagestyle{normal} as the primary pagestyle for text.
+ \fancypagestyle{normal}{
+ \fancyhf{}
+ \fancyfoot[LE,RO]{{\py@HeaderFamily\thepage}}
+ \fancyfoot[LO]{{\py@HeaderFamily\nouppercase{\rightmark}}}
+ \fancyfoot[RE]{{\py@HeaderFamily\nouppercase{\leftmark}}}
+ \fancyhead[LE,RO]{{\py@HeaderFamily \@title, \py@release}}
+ \renewcommand{\headrulewidth}{0.4pt}
+ \renewcommand{\footrulewidth}{0.4pt}
+ % define chaptermark with \@chappos when \@chappos is available for Japanese
+ \spx@ifundefined{@chappos}{}
+ {\def\chaptermark##1{\markboth{\@chapapp\space\thechapter\space\@chappos\space ##1}{}}}
+ }
+ % Update the plain style so we get the page number & footer line,
+ % but not a chapter or section title. This is to keep the first
+ % page of a chapter and the blank page between chapters `clean.'
+ \fancypagestyle{plain}{
+ \fancyhf{}
+ \fancyfoot[LE,RO]{{\py@HeaderFamily\thepage}}
+ \renewcommand{\headrulewidth}{0pt}
+ \renewcommand{\footrulewidth}{0.4pt}
+ }
+}
+
+% Some custom font markup commands.
+% *** the macros without \sphinx prefix are still defined at bottom of file ***
+\newcommand{\sphinxstrong}[1]{{\textbf{#1}}}
+% let \sphinxcode and \sphinxbfcode use straight quotes. \@noligs patched by upquote,
+% but needs protection in "moving arguments" such as for captions.
+% Use \scantokens to handle e.g. \item[{\sphinxcode{'fontenc'}}]
+\DeclareRobustCommand{\sphinxcode}[1]{{\@noligs\scantokens{\texttt{#1}\relax}}}
+\newcommand{\sphinxbfcode}[1]{\sphinxcode{\bfseries#1}}
+\newcommand{\sphinxemail}[1]{\textsf{#1}}
+\newcommand{\sphinxtablecontinued}[1]{\textsf{#1}}
+\newcommand{\sphinxtitleref}[1]{\emph{#1}}
+\newcommand{\sphinxmenuselection}[1]{\emph{#1}}
+\newcommand{\sphinxaccelerator}[1]{\underline{#1}}
+\newcommand{\sphinxcrossref}[1]{\emph{#1}}
+\newcommand{\sphinxtermref}[1]{\emph{#1}}
+
+% miscellaneous related to footnotes
+\newcommand*{\sphinxAtStartFootnote}{\mbox{ }}
+% Support large numbered footnotes in minipage (cf. admonitions)
+\def\thempfootnote{\arabic{mpfootnote}}
+
+% Redefine the Verbatim environment to allow border and background colors
+% and to handle the top caption in a non separable by pagebreak way.
+% The original environment is still used for verbatims within tables.
+\let\OriginalVerbatim=\Verbatim
+\let\endOriginalVerbatim=\endVerbatim
+
+\newcommand\spx@colorbox [2]{%
+% #1 will be \fcolorbox or, for first part of frame: \spx@fcolorbox
+% let the framing obey the current indentation (adapted from framed.sty's code).
+ \hskip\@totalleftmargin
+ \hskip-\fboxsep\hskip-\fboxrule
+ #1{VerbatimBorderColor}{VerbatimColor}{#2}%
+ \hskip-\fboxsep\hskip-\fboxrule
+ \hskip-\linewidth \hskip-\@totalleftmargin \hskip\columnwidth
+}
+% use of \color@b@x here is compatible with both xcolor.sty and color.sty
+\def\spx@fcolorbox #1#2%
+ {\color@b@x {\fboxsep\z@\color{#1}\spx@VerbatimFBox}{\color{#2}}}%
+
+% The title is specified from outside as macro \sphinxVerbatimTitle.
+% \sphinxVerbatimTitle is reset to empty after each use of Verbatim.
+\newcommand*\sphinxVerbatimTitle {}
+% Holder macro for labels of literal blocks. Set-up by LaTeX writer.
+\newcommand*\sphinxLiteralBlockLabel {}
+\newcommand*\sphinxSetupCaptionForVerbatim [2]
+{%
+ \needspace{\sphinxliteralblockneedspace}%
+% insert a \label via \sphinxLiteralBlockLabel
+% reset to normal the color for the literal block caption
+% the caption inserts \abovecaptionskip whitespace above itself (usually 10pt)
+% there is also \belowcaptionskip but it is usually zero, hence the \smallskip
+ \def\sphinxVerbatimTitle
+ {\py@NormalColor\captionof{#1}{\sphinxLiteralBlockLabel #2}\smallskip }%
+}
+
+% Inspired and adapted from framed.sty's \CustomFBox with extra handling
+% of a non separable by pagebreak caption, and controlled counter stepping.
+\newif\ifspx@myfirstframedpass
+\long\def\spx@VerbatimFBox#1{%
+ \leavevmode
+ \begingroup
+ % framed.sty does some measuring but this macro adds possibly a caption
+ % use amsmath conditional to inhibit the caption counter stepping after
+ % first pass
+ \ifspx@myfirstframedpass\else\firstchoice@false\fi
+ \setbox\@tempboxa\hbox{\kern\fboxsep{#1}\kern\fboxsep}%
+ \hbox
+ {\lower\dimexpr\fboxrule+\fboxsep+\dp\@tempboxa
+ \hbox{%
+ \vbox{\ifx\sphinxVerbatimTitle\empty\else
+ % add the caption in a centered way above possibly indented frame
+ % hide its width from framed.sty's measuring step
+ % note that the caption brings \abovecaptionskip top vertical space
+ \moveright\dimexpr\fboxrule+.5\wd\@tempboxa
+ \hb@xt@\z@{\hss\begin{minipage}{\wd\@tempboxa}%
+ \sphinxVerbatimTitle
+ \end{minipage}\hss}\fi
+ % draw frame border _latest_ to avoid pdf viewer issue
+ \kern\fboxrule
+ \hbox{\kern\fboxrule
+ \vbox{\vskip\fboxsep\copy\@tempboxa\vskip\fboxsep}%
+ \kern-\wd\@tempboxa\kern-\fboxrule
+ \vrule\@width\fboxrule
+ \kern\wd\@tempboxa
+ \vrule\@width\fboxrule}%
+ \kern-\dimexpr\fboxsep+\ht\@tempboxa+\dp\@tempboxa
+ +\fboxsep+\fboxrule\relax
+ \hrule\@height\fboxrule
+ \kern\dimexpr\fboxsep+\ht\@tempboxa+\dp\@tempboxa+\fboxsep\relax
+ \hrule\@height\fboxrule}%
+ }}%
+ \endgroup
+ \global\spx@myfirstframedpassfalse
+}
+
+% For linebreaks inside Verbatim environment from package fancyvrb.
+\newbox\sphinxcontinuationbox
+\newbox\sphinxvisiblespacebox
+% These are user customizable e.g. from latex_elements's preamble key.
+% Use of \textvisiblespace for compatibility with XeTeX/LuaTeX/fontspec.
+\newcommand*\sphinxvisiblespace {\textcolor{red}{\textvisiblespace}}
+\newcommand*\sphinxcontinuationsymbol {\textcolor{red}{\llap{\tiny$\m@th\hookrightarrow$}}}
+\newcommand*\sphinxcontinuationindent {3ex }
+\newcommand*\sphinxafterbreak {\kern\sphinxcontinuationindent\copy\sphinxcontinuationbox}
+
+% Take advantage of the already applied Pygments mark-up to insert
+% potential linebreaks for TeX processing.
+% {, <, #, %, $, ' and ": go to next line.
+% _, }, ^, &, >, - and ~: stay at end of broken line.
+% Use of \textquotesingle for straight quote.
+\newcommand*\sphinxbreaksatspecials {%
+ \def\PYGZus{\discretionary{\char`\_}{\sphinxafterbreak}{\char`\_}}%
+ \def\PYGZob{\discretionary{}{\sphinxafterbreak\char`\{}{\char`\{}}%
+ \def\PYGZcb{\discretionary{\char`\}}{\sphinxafterbreak}{\char`\}}}%
+ \def\PYGZca{\discretionary{\char`\^}{\sphinxafterbreak}{\char`\^}}%
+ \def\PYGZam{\discretionary{\char`\&}{\sphinxafterbreak}{\char`\&}}%
+ \def\PYGZlt{\discretionary{}{\sphinxafterbreak\char`\<}{\char`\<}}%
+ \def\PYGZgt{\discretionary{\char`\>}{\sphinxafterbreak}{\char`\>}}%
+ \def\PYGZsh{\discretionary{}{\sphinxafterbreak\char`\#}{\char`\#}}%
+ \def\PYGZpc{\discretionary{}{\sphinxafterbreak\char`\%}{\char`\%}}%
+ \def\PYGZdl{\discretionary{}{\sphinxafterbreak\char`\$}{\char`\$}}%
+ \def\PYGZhy{\discretionary{\char`\-}{\sphinxafterbreak}{\char`\-}}%
+ \def\PYGZsq{\discretionary{}{\sphinxafterbreak\textquotesingle}{\textquotesingle}}%
+ \def\PYGZdq{\discretionary{}{\sphinxafterbreak\char`\"}{\char`\"}}%
+ \def\PYGZti{\discretionary{\char`\~}{\sphinxafterbreak}{\char`\~}}%
+}
+
+\def\sphinx@verbatim@nolig@list {\do \`}%
+% Some characters . , ; ? ! / are not pygmentized.
+% This macro makes them "active" and they will insert potential linebreaks
+\newcommand*\sphinxbreaksatpunct {%
+ \lccode`\~`\.\lowercase{\def~}{\discretionary{\char`\.}{\sphinxafterbreak}{\char`\.}}%
+ \lccode`\~`\,\lowercase{\def~}{\discretionary{\char`\,}{\sphinxafterbreak}{\char`\,}}%
+ \lccode`\~`\;\lowercase{\def~}{\discretionary{\char`\;}{\sphinxafterbreak}{\char`\;}}%
+ \lccode`\~`\:\lowercase{\def~}{\discretionary{\char`\:}{\sphinxafterbreak}{\char`\:}}%
+ \lccode`\~`\?\lowercase{\def~}{\discretionary{\char`\?}{\sphinxafterbreak}{\char`\?}}%
+ \lccode`\~`\!\lowercase{\def~}{\discretionary{\char`\!}{\sphinxafterbreak}{\char`\!}}%
+ \lccode`\~`\/\lowercase{\def~}{\discretionary{\char`\/}{\sphinxafterbreak}{\char`\/}}%
+ \catcode`\.\active
+ \catcode`\,\active
+ \catcode`\;\active
+ \catcode`\:\active
+ \catcode`\?\active
+ \catcode`\!\active
+ \catcode`\/\active
+ \lccode`\~`\~
+}
+
+\renewcommand{\Verbatim}[1][1]{%
+ % quit horizontal mode if we are still in a paragraph
+ \par
+ % list starts new par, but we don't want it to be set apart vertically
+ \parskip\z@skip
+ % first, let's check if there is a caption
+ \ifx\sphinxVerbatimTitle\empty
+ \addvspace\z@% counteract possible previous negative skip (French lists!)
+ \smallskip
+ % there was no caption. Check if nevertheless a label was set.
+ \ifx\sphinxLiteralBlockLabel\empty\else
+ % we require some space to be sure hyperlink target from \phantomsection
+ % will not be separated from upcoming verbatim by a page break
+ \needspace{\sphinxliteralblockwithoutcaptionneedspace}%
+ \phantomsection\sphinxLiteralBlockLabel
+ \fi
+ \fi
+ % non-empty \sphinxVerbatimTitle has label inside it (in case there is one)
+ % Customize framed.sty \MakeFramed to glue caption to literal block
+ \global\spx@myfirstframedpasstrue
+ % via \spx@fcolorbox, will use \spx@VerbatimFBox which inserts title
+ \def\FrameCommand {\spx@colorbox\spx@fcolorbox }%
+ \let\FirstFrameCommand\FrameCommand
+ % for mid pages and last page portion of (long) split frame:
+ \def\MidFrameCommand{\spx@colorbox\fcolorbox }%
+ \let\LastFrameCommand\MidFrameCommand
+ % fancyvrb's Verbatim puts each input line in (unbreakable) horizontal boxes.
+ % This customization wraps each line from the input in a \vtop, thus
+ % allowing it to wrap and display on two or more lines in the latex output.
+ % - The codeline counter will be increased only once.
+ % - The wrapped material will not break across pages, it is impossible
+ % to achieve this without extensive rewrite of fancyvrb.
+ % - The (not used in sphinx) obeytabs option to Verbatim is
+ % broken by this change (showtabs and tabspace work).
+ \sbox\sphinxcontinuationbox {\sphinxcontinuationsymbol}%
+ \sbox\sphinxvisiblespacebox {\FV@SetupFont\sphinxvisiblespace}%
+ \def\FancyVerbFormatLine ##1{\hsize\linewidth
+ \vtop{\raggedright\hyphenpenalty\z@\exhyphenpenalty\z@
+ \doublehyphendemerits\z@\finalhyphendemerits\z@
+ \strut ##1\strut}%
+ }%
+ % If the linebreak is at a space, the latter will be displayed as visible
+ % space at end of first line, and a continuation symbol starts next line.
+ % Stretch/shrink are however usually zero for typewriter font.
+ \def\FV@Space {%
+ \nobreak\hskip\z@ plus\fontdimen3\font minus\fontdimen4\font
+ \discretionary{\copy\sphinxvisiblespacebox}{\sphinxafterbreak}
+ {\kern\fontdimen2\font}%
+ }%
+ % go around fancyvrb's check of @currenvir (for case of minipage below)
+ \renewcommand*{\VerbatimEnvironment}{\gdef\FV@EnvironName{Verbatim}}%
+ % go around fancyvrb's check of current list depth
+ \def\@toodeep {\advance\@listdepth\@ne}%
+ % Allow breaks at special characters using \PYG... macros.
+ \sphinxbreaksatspecials
+ % The list environment is needed to control perfectly the vertical space.
+ % Note: \OuterFrameSep used by framed.sty is later set to \topsep hence 0pt.
+ % - if caption: vertical space above caption = (\abovecaptionskip + D) with
+ % D = \baselineskip-\FrameHeightAdjust, and then \smallskip above frame.
+ % - if no caption: (\smallskip + D) above frame. By default D=6pt.
+ % Use trivlist rather than list to avoid possible "too deeply nested" error.
+ \itemsep \z@skip
+ \topsep \z@skip
+ \partopsep \z@skip% trivlist will set \parsep to \parskip = zero (see above)
+ % \leftmargin will be set to zero by trivlist
+ \rightmargin\z@
+ \parindent \z@% becomes \itemindent. Default zero, but perhaps overwritten.
+ \trivlist\item\relax
+ % use a minipage if we are already inside a framed environment
+ \ifspx@inframed\noindent\begin{minipage}{\linewidth}\fi
+ \MakeFramed {% adapted over from framed.sty's snugshade environment
+ \advance\hsize-\width\@totalleftmargin\z@\linewidth\hsize
+ \@setminipage }%
+ \small
+ % For grid placement from \strut's in \FancyVerbFormatLine
+ \lineskip\z@skip
+ % Breaks at punctuation characters . , ; ? ! and / need catcode=\active
+ % and the active comma should not be overwritten by \@noligs
+ \let\verbatim@nolig@list \sphinx@verbatim@nolig@list
+ \OriginalVerbatim[#1,codes*=\sphinxbreaksatpunct]%
+}
+\renewcommand{\endVerbatim}{%
+ \endOriginalVerbatim
+ \par\unskip\@minipagefalse\endMakeFramed
+ \ifspx@inframed\end{minipage}\fi
+ \endtrivlist
+}
+
+% define macro to frame contents and add shadow on right and bottom
+% use public names for customizable lengths
+\newlength\sphinxshadowsep \setlength\sphinxshadowsep {5pt}
+\newlength\sphinxshadowsize \setlength\sphinxshadowsize {4pt}
+\newlength\sphinxshadowrule
+% this uses \fboxrule value at loading time of sphinx.sty (0.4pt normally)
+\setlength\sphinxshadowrule {\fboxrule}
+
+\long\def\spx@ShadowFBox#1{%
+ \leavevmode\begingroup
+ % first we frame the box #1
+ \setbox\@tempboxa
+ \hbox{\vrule\@width\sphinxshadowrule
+ \vbox{\hrule\@height\sphinxshadowrule
+ \kern\sphinxshadowsep
+ \hbox{\kern\sphinxshadowsep #1\kern\sphinxshadowsep}%
+ \kern\sphinxshadowsep
+ \hrule\@height\sphinxshadowrule}%
+ \vrule\@width\sphinxshadowrule}%
+ % Now we add the shadow, like \shadowbox from fancybox.sty would do
+ \dimen@\dimexpr.5\sphinxshadowrule+\sphinxshadowsize\relax
+ \hbox{\vbox{\offinterlineskip
+ \hbox{\copy\@tempboxa\kern-.5\sphinxshadowrule
+ % add shadow on right side
+ \lower\sphinxshadowsize
+ \hbox{\vrule\@height\ht\@tempboxa \@width\dimen@}%
+ }%
+ \kern-\dimen@ % shift back vertically to bottom of frame
+ % and add shadow at bottom
+ \moveright\sphinxshadowsize
+ \vbox{\hrule\@width\wd\@tempboxa \@height\dimen@}%
+ }%
+ % move left by the size of right shadow so shadow adds no width
+ \kern-\sphinxshadowsize
+ }%
+ \endgroup
+}
+
+% use framed.sty to allow page breaks in frame+shadow
+% works well inside Lists and Quote-like environments
+% produced by ``topic'' directive (or local contents)
+% could nest if LaTeX writer authorized it
+\newenvironment{sphinxShadowBox}
+ {\def\FrameCommand {\spx@ShadowFBox }%
+ % configure framed.sty not to add extra vertical spacing
+ \spx@ifundefined{OuterFrameSep}{}{\OuterFrameSep\z@skip}%
+ % the \trivlist will add the vertical spacing on top and bottom which is
+ % typical of center environment as used in Sphinx <= 1.4.1
+ % the \noindent has the effet of an extra blank line on top, to
+ % imitate closely the layout from Sphinx <= 1.4.1; the \FrameHeightAdjust
+ % will put top part of frame on this baseline.
+ \def\FrameHeightAdjust {\baselineskip}%
+ \trivlist\item\noindent
+ % use a minipage if we are already inside a framed environment
+ \ifspx@inframed\begin{minipage}{\linewidth}\fi
+ \MakeFramed {\spx@inframedtrue
+ % framed.sty puts into "\width" the added width (=2shadowsep+2shadowrule)
+ % adjust \hsize to what the contents must use
+ \advance\hsize-\width
+ % adjust LaTeX parameters to behave properly in indented/quoted contexts
+ \FrameRestore
+ % typeset the contents as in a minipage (Sphinx <= 1.4.1 used a minipage and
+ % itemize/enumerate are therein typeset more tightly, we want to keep
+ % that). We copy-paste from LaTeX source code but don't do a real minipage.
+ \@pboxswfalse
+ % for footnotes, but Sphinx inactivates footnotes in topics
+ \def\@mpfn{mpfootnote}\def\thempfn{\thempfootnote}\c@mpfootnote\z@
+ \let\@footnotetext\@mpfootnotetext
+ \let\@listdepth\@mplistdepth \@mplistdepth\z@
+ \@minipagerestore
+ \@setminipage
+ }%
+ }%
+ {% insert the "endminipage" code
+ \par\unskip
+ % handle (currently non existing) minipage style footnotes
+ \ifvoid\@mpfootins\else
+ \vskip\skip\@mpfootins\normalcolor\footnoterule\unvbox\@mpfootins
+ \fi
+ \@minipagefalse
+ \endMakeFramed
+ \ifspx@inframed\end{minipage}\fi
+ \endtrivlist
+ }
+
+
+% \moduleauthor{name}{email}
+\newcommand{\moduleauthor}[2]{}
+
+% \sectionauthor{name}{email}
+\newcommand{\sectionauthor}[2]{}
+
+% Augment the sectioning commands used to get our own font family in place,
+% and reset some internal data items:
+\titleformat{\section}{\Large\py@HeaderFamily}%
+ {\py@TitleColor\thesection}{0.5em}{\py@TitleColor}{\py@NormalColor}
+\titleformat{\subsection}{\large\py@HeaderFamily}%
+ {\py@TitleColor\thesubsection}{0.5em}{\py@TitleColor}{\py@NormalColor}
+\titleformat{\subsubsection}{\py@HeaderFamily}%
+ {\py@TitleColor\thesubsubsection}{0.5em}{\py@TitleColor}{\py@NormalColor}
+% By default paragraphs (and subsubsections) will not be numbered because
+% sphinxmanual.cls and sphinxhowto.cls set secnumdepth to 2
+\titleformat{\paragraph}{\py@HeaderFamily}%
+ {\py@TitleColor\theparagraph}{0.5em}{\py@TitleColor}{\py@NormalColor}
+\titleformat{\subparagraph}{\py@HeaderFamily}%
+ {\py@TitleColor\thesubparagraph}{0.5em}{\py@TitleColor}{\py@NormalColor}
+
+% {fulllineitems} is the main environment for object descriptions.
+%
+\newcommand{\py@itemnewline}[1]{%
+ \@tempdima\linewidth%
+ \advance\@tempdima \leftmargin\makebox[\@tempdima][l]{#1}%
+}
+
+\newenvironment{fulllineitems}{
+ \begin{list}{}{\labelwidth \leftmargin \labelsep 0pt
+ \rightmargin 0pt \topsep -\parskip \partopsep \parskip
+ \itemsep -\parsep
+ \let\makelabel=\py@itemnewline}
+}{\end{list}}
+
+% \optional is used for ``[, arg]``, i.e. desc_optional nodes.
+\newcommand{\sphinxoptional}[1]{%
+ {\textnormal{\Large[}}{#1}\hspace{0.5mm}{\textnormal{\Large]}}}
+
+\newlength{\py@argswidth}
+\newcommand{\py@sigparams}[2]{%
+ \parbox[t]{\py@argswidth}{#1\sphinxcode{)}#2}}
+\newcommand{\pysigline}[1]{\item[#1]\nopagebreak}
+\newcommand{\pysiglinewithargsret}[3]{%
+ \settowidth{\py@argswidth}{#1\sphinxcode{(}}%
+ \addtolength{\py@argswidth}{-2\py@argswidth}%
+ \addtolength{\py@argswidth}{\linewidth}%
+ \item[#1\sphinxcode{(}\py@sigparams{#2}{#3}]}
+
+% Production lists
+%
+\newenvironment{productionlist}{
+% \def\sphinxoptional##1{{\Large[}##1{\Large]}}
+ \def\production##1##2{\\\sphinxcode{##1}&::=&\sphinxcode{##2}}
+ \def\productioncont##1{\\& &\sphinxcode{##1}}
+ \parindent=2em
+ \indent
+ \setlength{\LTpre}{0pt}
+ \setlength{\LTpost}{0pt}
+ \begin{longtable}[l]{lcl}
+}{%
+ \end{longtable}
+}
+
+% Notices / Admonitions
+%
+
+% Code adapted from framed.sty's "snugshade" environment.
+% Nesting works (inner frames do not allow page breaks).
+\newcommand{\py@heavybox}{\par
+ \setlength{\FrameRule}{\p@}% 1pt
+ \setlength{\FrameSep}{\dimexpr.6\baselineskip-\FrameRule\relax}
+ % configure framed.sty's parameters to obtain same vertical spacing
+ % as for "light" boxes. We need for this to manually insert parskip glue and
+ % revert a skip done by framed before the frame.
+ \spx@ifundefined{OuterFrameSep}{}{\OuterFrameSep\z@skip}%
+ \vspace{\FrameHeightAdjust}
+ % copied/adapted from framed.sty's snugshade
+ \def\FrameCommand##1{\hskip\@totalleftmargin
+ \fboxsep\FrameSep \fboxrule\FrameRule\fbox{##1}%
+ \hskip-\linewidth \hskip-\@totalleftmargin \hskip\columnwidth}%
+ % use a minipage if we are already inside a framed environment
+ \ifspx@inframed
+ \noindent\begin{minipage}{\linewidth}
+ \else
+ % handle case where notice is first thing in a list item (or is quoted)
+ \if@inlabel
+ \noindent\par\vspace{-\baselineskip}
+ \else
+ \vspace{\parskip}
+ \fi
+ \fi
+ \MakeFramed {\spx@inframedtrue
+ \advance\hsize-\width \@totalleftmargin\z@ \linewidth\hsize
+ % minipage initialization copied from LaTeX source code.
+ \@pboxswfalse
+ % for footnotes
+ \def\@mpfn{mpfootnote}\def\thempfn{\thempfootnote}\c@mpfootnote\z@
+ \let\@footnotetext\@mpfootnotetext
+ \let\@listdepth\@mplistdepth \@mplistdepth\z@
+ \@minipagerestore
+ \@setminipage }%
+ }
+\newcommand{\py@endheavybox}{%
+ \par\unskip
+ % handles footnotes
+ \ifvoid\@mpfootins\else
+ \vskip\skip\@mpfootins\normalcolor\footnoterule\unvbox\@mpfootins
+ \fi
+ \@minipagefalse
+ \endMakeFramed
+ \ifspx@inframed\end{minipage}\fi
+ % arrange for similar spacing below frame as for "light" boxes.
+ \vskip .4\baselineskip
+ }
+
+\newcommand{\py@lightbox}{%
+ \par\allowbreak
+ \noindent\rule{\linewidth}{0.5pt}\par\nobreak
+ {\parskip\z@skip\noindent}%
+ }
+\newcommand{\py@endlightbox}{%
+ \par
+ % counteract previous possible negative skip (French lists!):
+ % (we can't cancel that any earlier \vskip introduced a potential pagebreak)
+ \ifdim\lastskip<\z@\vskip-\lastskip\fi
+ \nobreak\vbox{\noindent\kern\@totalleftmargin
+ \rule[.4\baselineskip]{\linewidth}{0.5pt}\hss}\allowbreak
+ }
+
+% Some are quite plain:
+\newcommand{\py@noticestart@note}{\py@lightbox}
+\newcommand{\py@noticeend@note}{\py@endlightbox}
+\newcommand{\py@noticestart@hint}{\py@lightbox}
+\newcommand{\py@noticeend@hint}{\py@endlightbox}
+\newcommand{\py@noticestart@important}{\py@lightbox}
+\newcommand{\py@noticeend@important}{\py@endlightbox}
+\newcommand{\py@noticestart@tip}{\py@lightbox}
+\newcommand{\py@noticeend@tip}{\py@endlightbox}
+
+% Others gets more visible distinction:
+\newcommand{\py@noticestart@warning}{\py@heavybox}
+\newcommand{\py@noticeend@warning}{\py@endheavybox}
+\newcommand{\py@noticestart@caution}{\py@heavybox}
+\newcommand{\py@noticeend@caution}{\py@endheavybox}
+\newcommand{\py@noticestart@attention}{\py@heavybox}
+\newcommand{\py@noticeend@attention}{\py@endheavybox}
+\newcommand{\py@noticestart@danger}{\py@heavybox}
+\newcommand{\py@noticeend@danger}{\py@endheavybox}
+\newcommand{\py@noticestart@error}{\py@heavybox}
+\newcommand{\py@noticeend@error}{\py@endheavybox}
+
+\newenvironment{notice}[2]{
+ \def\py@noticetype{#1}
+ \csname py@noticestart@#1\endcsname
+ \sphinxstrong{#2} % <- legacy code creates a space after {#2}
+}{\csname py@noticeend@\py@noticetype\endcsname}
+
+% Allow the release number to be specified independently of the
+% \date{}. This allows the date to reflect the document's date and
+% release to specify the release that is documented.
+%
+\newcommand{\py@release}{}
+\newcommand{\version}{}
+\newcommand{\shortversion}{}
+\newcommand{\releaseinfo}{}
+\newcommand{\releasename}{Release}
+\newcommand{\release}[1]{%
+ \renewcommand{\py@release}{\releasename\space\version}%
+ \renewcommand{\version}{#1}}
+\newcommand{\setshortversion}[1]{%
+ \renewcommand{\shortversion}{#1}}
+\newcommand{\setreleaseinfo}[1]{%
+ \renewcommand{\releaseinfo}{#1}}
+
+% Allow specification of the author's address separately from the
+% author's name. This can be used to format them differently, which
+% is a good thing.
+%
+\newcommand{\py@authoraddress}{}
+\newcommand{\authoraddress}[1]{\renewcommand{\py@authoraddress}{#1}}
+
+% This sets up the fancy chapter headings that make the documents look
+% at least a little better than the usual LaTeX output.
+%
+\spx@ifundefined{ChTitleVar}{}{
+ \ChNameVar{\raggedleft\normalsize\py@HeaderFamily}
+ \ChNumVar{\raggedleft \bfseries\Large\py@HeaderFamily}
+ \ChTitleVar{\raggedleft \textrm{\Huge\py@HeaderFamily}}
+ % This creates chapter heads without the leading \vspace*{}:
+ \def\@makechapterhead#1{%
+ {\parindent \z@ \raggedright \normalfont
+ \ifnum \c@secnumdepth >\m@ne
+ \DOCH
+ \fi
+ \interlinepenalty\@M
+ \DOTI{#1}
+ }
+ }
+}
+
+% Redefine description environment so that it is usable inside fulllineitems.
+%
+\renewcommand{\description}{%
+ \list{}{\labelwidth\z@%
+ \itemindent-\leftmargin%
+ \labelsep5pt%
+ \let\makelabel=\descriptionlabel}}
+
+% Definition lists; requested by AMK for HOWTO documents. Probably useful
+% elsewhere as well, so keep in in the general style support.
+%
+\newenvironment{definitions}{%
+ \begin{description}%
+ \def\term##1{\item[##1]\mbox{}\\*[0mm]}
+}{%
+ \end{description}%
+}
+
+% Tell TeX about pathological hyphenation cases:
+\hyphenation{Base-HTTP-Re-quest-Hand-ler}
+
+
+% The following is stuff copied from docutils' latex writer.
+%
+\newcommand{\optionlistlabel}[1]{\normalfont\bfseries #1 \hfill}% \bf deprecated
+\newenvironment{optionlist}[1]
+{\begin{list}{}
+ {\setlength{\labelwidth}{#1}
+ \setlength{\rightmargin}{1cm}
+ \setlength{\leftmargin}{\rightmargin}
+ \addtolength{\leftmargin}{\labelwidth}
+ \addtolength{\leftmargin}{\labelsep}
+ \renewcommand{\makelabel}{\optionlistlabel}}
+}{\end{list}}
+
+\newlength{\lineblockindentation}
+\setlength{\lineblockindentation}{2.5em}
+\newenvironment{lineblock}[1]
+{\begin{list}{}
+ {\setlength{\partopsep}{\parskip}
+ \addtolength{\partopsep}{\baselineskip}
+ \topsep0pt\itemsep0.15\baselineskip\parsep0pt
+ \leftmargin#1}
+ \raggedright}
+{\end{list}}
+
+% Re-define \includegraphics to resize images larger than the line width
+% if the size is not specified.
+% Warning: future version of Sphinx will not modify original \includegraphics,
+% Below custom code will be direct definition of \sphinxincludegraphics, with
+% \py@Oldincludegraphics replaced by direct use of original \includegraphics.
+\let\py@Oldincludegraphics\includegraphics
+\newbox\spx@image@box
+\renewcommand*{\includegraphics}[2][\@empty]{%
+ \ifx\@empty #1% attention, #1 could be bb.., bad if first after \ifx
+ \setbox\spx@image@box=\hbox{\py@Oldincludegraphics{#2}}%
+ \ifdim \wd\spx@image@box>\linewidth
+ \py@Oldincludegraphics[width=\linewidth]{#2}%
+ \else
+ \leavevmode\box\spx@image@box
+ \fi
+ \else
+ \py@Oldincludegraphics[#1]{#2}%
+ \fi
+}
+% Writer will put \sphinxincludegraphics in LaTeX source, and with this,
+% documents which used their own modified \includegraphics will compile
+% as before. But see warning above.
+\newcommand*{\sphinxincludegraphics}{\includegraphics}
+
+% to make pdf with correct encoded bookmarks in Japanese
+% this should precede the hyperref package
+\ifx\kanjiskip\undefined
+% for non-Japanese: make sure bookmarks are ok also with lualatex
+ \PassOptionsToPackage{pdfencoding=unicode}{hyperref}
+\else
+ \usepackage{atbegshi}
+ \ifx\ucs\undefined
+ \ifnum 42146=\euc"A4A2
+ \AtBeginShipoutFirst{\special{pdf:tounicode EUC-UCS2}}
+ \else
+ \AtBeginShipoutFirst{\special{pdf:tounicode 90ms-RKSJ-UCS2}}
+ \fi
+ \else
+ \AtBeginShipoutFirst{\special{pdf:tounicode UTF8-UCS2}}
+ \fi
+\fi
+
+% Include hyperref last.
+\RequirePackage[colorlinks,breaklinks,
+ linkcolor=InnerLinkColor,filecolor=OuterLinkColor,
+ menucolor=OuterLinkColor,urlcolor=OuterLinkColor,
+ citecolor=InnerLinkColor]{hyperref}
+% Fix anchor placement for figures with captions.
+% (Note: we don't use a package option here; instead, we give an explicit
+% \capstart for figures that actually have a caption.)
+\RequirePackage{hypcap}
+
+% Set up styles of URL: it should be placed after hyperref
+\urlstyle{same}
+
+% From docutils.writers.latex2e
+% inline markup (custom roles)
+% \DUrole{#1}{#2} tries \DUrole#1{#2}
+\providecommand*{\DUrole}[2]{%
+ \ifcsname DUrole#1\endcsname%
+ \csname DUrole#1\endcsname{#2}%
+ \else% backwards compatibility: try \docutilsrole#1{#2}
+ \ifcsname docutilsrole#1\endcsname%
+ \csname docutilsrole#1\endcsname{#2}%
+ \else%
+ #2%
+ \fi%
+ \fi%
+}
+
+\providecommand*{\DUprovidelength}[2]{%
+ \ifdefined#1\else\newlength{#1}\setlength{#1}{#2}\fi
+}
+
+\DUprovidelength{\DUlineblockindent}{2.5em}
+\ifdefined\DUlineblock\else
+ \newenvironment{DUlineblock}[1]{%
+ \list{}{\setlength{\partopsep}{\parskip}
+ \addtolength{\partopsep}{\baselineskip}
+ \setlength{\topsep}{0pt}
+ \setlength{\itemsep}{0.15\baselineskip}
+ \setlength{\parsep}{0pt}
+ \setlength{\leftmargin}{#1}}
+ \raggedright
+ }
+ {\endlist}
+\fi
+
+% From footmisc.sty: allows footnotes in titles
+\let\FN@sf@@footnote\footnote
+\def\footnote{\ifx\protect\@typeset@protect
+ \expandafter\FN@sf@@footnote
+ \else
+ \expandafter\FN@sf@gobble@opt
+ \fi
+}
+\edef\FN@sf@gobble@opt{\noexpand\protect
+ \expandafter\noexpand\csname FN@sf@gobble@opt \endcsname}
+\expandafter\def\csname FN@sf@gobble@opt \endcsname{%
+ \@ifnextchar[%]
+ \FN@sf@gobble@twobracket
+ \@gobble
+}
+\def\FN@sf@gobble@twobracket[#1]#2{}
+
+% adjust the margins for footer,
+% this works with the jsclasses only (Japanese standard document classes)
+\ifx\@jsc@uplatextrue\undefined\else
+ \hypersetup{setpagesize=false}
+ \setlength\footskip{2\baselineskip}
+ \addtolength{\textheight}{-2\baselineskip}
+\fi
+
+% fix the double index and bibliography on the table of contents
+% in jsclasses (Japanese standard document classes)
+\ifx\@jsc@uplatextrue\undefined\else
+ \renewcommand{\theindex}{
+ \cleardoublepage
+ \phantomsection
+ \py@OldTheindex
+ }
+ \renewcommand{\thebibliography}[1]{
+ \cleardoublepage
+ \phantomsection
+ \py@OldThebibliography{1}
+ }
+\fi
+
+% disable \@chappos in Appendix in pTeX
+\ifx\kanjiskip\undefined\else
+ \let\py@OldAppendix=\appendix
+ \renewcommand{\appendix}{
+ \py@OldAppendix
+ \gdef\@chappos{}
+ }
+\fi
+
+% Define literal-block environment
+\RequirePackage{newfloat}
+\DeclareFloatingEnvironment{literal-block}
+\spx@ifundefined{c@chapter}
+ {\SetupFloatingEnvironment{literal-block}{within=section,placement=h}}
+ {\SetupFloatingEnvironment{literal-block}{within=chapter,placement=h}}
+\SetupFloatingEnvironment{literal-block}{name=List}
+% control caption around literal-block
+\RequirePackage{capt-of}
+\RequirePackage{needspace}
+% if the left page space is less than \literalblockneedspace, insert page-break
+\newcommand{\sphinxliteralblockneedspace}{5\baselineskip}
+\newcommand{\sphinxliteralblockwithoutcaptionneedspace}{1.5\baselineskip}
+
+% figure in table
+\newenvironment{sphinxfigure-in-table}[1][\linewidth]{%
+ \def\@captype{figure}%
+ \begin{minipage}{#1}%
+}{\end{minipage}}
+% store original \caption macro for use with figures in longtable and tabulary
+\AtBeginDocument{\let\spx@originalcaption\caption}
+\newcommand*\sphinxfigcaption
+ {\ifx\equation$%$% this is trick to identify tabulary first pass
+ \firstchoice@false\else\firstchoice@true\fi
+ \spx@originalcaption }
+
+% by default, also define macros with the no-prefix names
+\ifsphinxKeepOldNames
+ \typeout{** (sphinx) defining (legacy) text style macros without \string\sphinx\space prefix}
+ \typeout{** if clashes with packages, set latex_keep_old_macro_names=False in conf.py}
+ \@for\@tempa:=strong,bfcode,email,tablecontinued,titleref,%
+ menuselection,accelerator,crossref,termref,optional\do
+{% first, check if command with no prefix already exists
+ \expandafter\newcommand\csname\@tempa\endcsname{}%
+ % if no error give it the meaning defined so far with \sphinx prefix
+ \expandafter\let\csname\@tempa\expandafter\endcsname
+ \csname sphinx\@tempa\endcsname
+ % redefine the \sphinx prefixed macro to expand to non-prefixed one
+ \expandafter\def\csname sphinx\@tempa\expandafter\endcsname
+ \expandafter{\csname\@tempa\endcsname}%
+}
+ % robustified case needs special treatment
+ \newcommand\code{}\let\code\relax
+ \DeclareRobustCommand{\code}[1]{{\@noligs\scantokens{\texttt{#1}\relax}}}
+ \def\sphinxcode{\code}%
+\fi
diff --git a/docs/_build/latex/sphinxhowto.cls b/docs/_build/latex/sphinxhowto.cls
new file mode 100644
index 0000000000000000000000000000000000000000..8d5c59232b7043ac8eae052e604e260148c6b381
--- /dev/null
+++ b/docs/_build/latex/sphinxhowto.cls
@@ -0,0 +1,111 @@
+%
+% sphinxhowto.cls for Sphinx (http://sphinx-doc.org/)
+%
+
+\NeedsTeXFormat{LaTeX2e}[1995/12/01]
+\ProvidesClass{sphinxhowto}[2009/06/02 Document class (Sphinx HOWTO)]
+
+\ifx\directlua\undefined\else
+% if compiling with lualatex 0.85 or later load compatibility patch issued by
+% the LaTeX team for older packages relying on \pdf<name> named primitives.
+ \IfFileExists{luatex85.sty}{\RequirePackage{luatex85}}{}
+\fi
+
+% 'oneside' option overriding the 'twoside' default
+\newif\if@oneside
+\DeclareOption{oneside}{\@onesidetrue}
+% Pass remaining document options to the parent class.
+\DeclareOption*{\PassOptionsToClass{\CurrentOption}{\sphinxdocclass}}
+\ProcessOptions\relax
+
+% Default to two-side document
+\if@oneside
+% nothing to do (oneside is the default)
+\else
+\PassOptionsToClass{twoside}{\sphinxdocclass}
+\fi
+
+\LoadClass{\sphinxdocclass}
+
+% Set some sane defaults for section numbering depth and TOC depth. You can
+% reset these counters in your preamble.
+%
+\setcounter{secnumdepth}{2}
+
+% Change the title page to look a bit better, and fit in with the fncychap
+% ``Bjarne'' style a bit better.
+%
+\renewcommand{\maketitle}{%
+ \noindent\rule{\textwidth}{1pt}\ifsphinxpdfoutput\newline\null\fi\par
+ \ifsphinxpdfoutput
+ \begingroup
+ % These \defs are required to deal with multi-line authors; it
+ % changes \\ to ', ' (comma-space), making it pass muster for
+ % generating document info in the PDF file.
+ \def\\{, }%
+ \def\and{and }%
+ \pdfinfo{
+ /Author (\@author)
+ /Title (\@title)
+ }%
+ \endgroup
+ \fi
+ \begin{flushright}
+ \sphinxlogo
+ \py@HeaderFamily
+ {\Huge \@title }\par
+ {\itshape\large \py@release \releaseinfo}\par
+ \vspace{25pt}
+ {\Large
+ \begin{tabular}[t]{c}
+ \@author
+ \end{tabular}}\par
+ \vspace{25pt}
+ \@date \par
+ \py@authoraddress \par
+ \end{flushright}
+ \@thanks
+ \setcounter{footnote}{0}
+ \let\thanks\relax\let\maketitle\relax
+ %\gdef\@thanks{}\gdef\@author{}\gdef\@title{}
+}
+
+\let\py@OldTableofcontents=\tableofcontents
+\renewcommand{\tableofcontents}{
+ \begingroup
+ \parskip = 0mm
+ \py@OldTableofcontents
+ \endgroup
+ \rule{\textwidth}{1pt}
+ \vspace{12pt}
+}
+
+\@ifundefined{fancyhf}{
+ \pagestyle{plain}}{
+ \pagestyle{normal}} % start this way; change for
+\pagenumbering{arabic} % ToC & chapters
+
+\thispagestyle{empty}
+
+% Fix the bibliography environment to add an entry to the Table of
+% Contents.
+% For an article document class this environment is a section,
+% so no page break before it.
+\let\py@OldThebibliography=\thebibliography
+\renewcommand{\thebibliography}[1]{
+ \phantomsection
+ \py@OldThebibliography{1}
+ \addcontentsline{toc}{section}{\bibname}
+}
+
+% Same for the indices.
+% The memoir class already does this, so we don't duplicate it in that case.
+%
+\@ifclassloaded{memoir}{}{
+ \let\py@OldTheindex=\theindex
+ \renewcommand{\theindex}{
+ \phantomsection
+ \py@OldTheindex
+ \addcontentsline{toc}{section}{\indexname}
+ }
+}
diff --git a/docs/_build/latex/sphinxmanual.cls b/docs/_build/latex/sphinxmanual.cls
new file mode 100644
index 0000000000000000000000000000000000000000..f204494496c6bc14965fec9974e420cf9b553f5f
--- /dev/null
+++ b/docs/_build/latex/sphinxmanual.cls
@@ -0,0 +1,130 @@
+%
+% sphinxmanual.cls for Sphinx (http://sphinx-doc.org/)
+%
+
+\NeedsTeXFormat{LaTeX2e}[1995/12/01]
+\ProvidesClass{sphinxmanual}[2009/06/02 Document class (Sphinx manual)]
+
+\ifx\directlua\undefined\else
+% if compiling with lualatex 0.85 or later load compatibility patch issued by
+% the LaTeX team for older packages relying on \pdf<name> named primitives.
+ \IfFileExists{luatex85.sty}{\RequirePackage{luatex85}}{}
+\fi
+
+% chapters starting at odd pages (overridden by 'openany' document option)
+\PassOptionsToClass{openright}{\sphinxdocclass}
+
+% 'oneside' option overriding the 'twoside' default
+\newif\if@oneside
+\DeclareOption{oneside}{\@onesidetrue}
+% Pass remaining document options to the parent class.
+\DeclareOption*{\PassOptionsToClass{\CurrentOption}{\sphinxdocclass}}
+\ProcessOptions\relax
+
+% Defaults two-side document
+\if@oneside
+% nothing to do (oneside is the default)
+\else
+\PassOptionsToClass{twoside}{\sphinxdocclass}
+\fi
+
+\LoadClass{\sphinxdocclass}
+
+% Set some sane defaults for section numbering depth and TOC depth. You can
+% reset these counters in your preamble.
+%
+\setcounter{secnumdepth}{2}
+\setcounter{tocdepth}{1}
+
+% Change the title page to look a bit better, and fit in with the fncychap
+% ``Bjarne'' style a bit better.
+%
+\renewcommand{\maketitle}{%
+ \begin{titlepage}%
+ \let\footnotesize\small
+ \let\footnoterule\relax
+ \noindent\rule{\textwidth}{1pt}\ifsphinxpdfoutput\newline\null\fi\par
+ \ifsphinxpdfoutput
+ \begingroup
+ % These \defs are required to deal with multi-line authors; it
+ % changes \\ to ', ' (comma-space), making it pass muster for
+ % generating document info in the PDF file.
+ \def\\{, }%
+ \def\and{and }%
+ \pdfinfo{
+ /Author (\@author)
+ /Title (\@title)
+ }%
+ \endgroup
+ \fi
+ \begin{flushright}%
+ \sphinxlogo
+ \py@HeaderFamily
+ {\Huge \@title \par}
+ {\itshape\LARGE \py@release\releaseinfo \par}
+ \vfill
+ {\LARGE
+ \begin{tabular}[t]{c}
+ \@author
+ \end{tabular}
+ \par}
+ \vfill\vfill
+ {\large
+ \@date \par
+ \vfill
+ \py@authoraddress \par
+ }%
+ \end{flushright}%\par
+ \@thanks
+ \end{titlepage}%
+ \setcounter{footnote}{0}%
+ \let\thanks\relax\let\maketitle\relax
+ %\gdef\@thanks{}\gdef\@author{}\gdef\@title{}
+}
+
+\let\py@OldTableofcontents=\tableofcontents
+\renewcommand{\tableofcontents}{%
+ % before resetting page counter, let's do the right thing.
+ \if@openright\cleardoublepage\else\clearpage\fi
+ \pagenumbering{roman}%
+ \pagestyle{plain}%
+ \begingroup
+ \parskip \z@skip
+ \py@OldTableofcontents
+ \endgroup
+ % before resetting page counter, let's do the right thing.
+ \if@openright\cleardoublepage\else\clearpage\fi
+ \pagenumbering{arabic}%
+ \ifdefined\fancyhf\pagestyle{normal}\fi
+}
+\pagenumbering{alph}% avoid hyperref "duplicate destination" warnings
+
+% This is needed to get the width of the section # area wide enough in the
+% library reference. Doing it here keeps it the same for all the manuals.
+%
+\renewcommand*\l@section{\@dottedtocline{1}{1.5em}{2.6em}}
+\renewcommand*\l@subsection{\@dottedtocline{2}{4.1em}{3.5em}}
+
+% Fix the bibliography environment to add an entry to the Table of
+% Contents.
+% For a report document class this environment is a chapter.
+\let\py@OldThebibliography=\thebibliography
+\renewcommand{\thebibliography}[1]{
+ \if@openright\cleardoublepage\else\clearpage\fi
+ \phantomsection
+ \py@OldThebibliography{1}
+ \addcontentsline{toc}{chapter}{\bibname}
+}
+
+% Same for the indices.
+% The memoir class already does this, so we don't duplicate it in that case.
+%
+\@ifclassloaded{memoir}{}{
+ \let\py@OldTheindex=\theindex
+ \renewcommand{\theindex}{
+ \if@openright\cleardoublepage\else\clearpage\fi
+ \phantomsection
+ \py@OldTheindex
+ \addcontentsline{toc}{chapter}{\indexname}
+ }
+}
diff --git a/docs/_build/latex/tabulary.sty b/docs/_build/latex/tabulary.sty
new file mode 100644
index 0000000000000000000000000000000000000000..11fdf7428c82a5cabe9626fd10926bbfe82e2904
--- /dev/null
+++ b/docs/_build/latex/tabulary.sty
@@ -0,0 +1,452 @@
+%%
+%% This is file `tabulary.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% tabulary.dtx (with options: `package')
+%% DRAFT VERSION
+%%
+%% File `tabulary.dtx'.
+%% Copyright (C) 1995 1996 2003 2008 David Carlisle
+%% This file may be distributed under the terms of the LPPL.
+%% See 00readme.txt for details.
+%%
+\NeedsTeXFormat{LaTeX2e}
+\ProvidesPackage{tabulary}
+ [2008/12/01 v0.9 tabulary package (DPC)]
+\RequirePackage{array}
+\catcode`\Z=14
+\DeclareOption{debugshow}{\catcode`\Z=9\relax}
+\ProcessOptions
+\def\arraybackslash{\let\\=\@arraycr}
+\def\@finalstrut#1{%
+ \unskip\ifhmode\nobreak\fi\vrule\@width\z@\@height\z@\@depth\dp#1}
+\newcount\TY@count
+\def\tabulary{%
+ \let\TY@final\tabular
+ \let\endTY@final\endtabular
+ \TY@tabular}
+\def\TY@tabular#1{%
+ \edef\TY@{\@currenvir}%
+ {\ifnum0=`}\fi
+ \@ovxx\TY@linewidth
+ \@ovyy\TY@tablewidth
+ \count@\z@
+ \@tempswatrue
+ \@whilesw\if@tempswa\fi{%
+ \advance\count@\@ne
+ \expandafter\ifx\csname TY@F\the\count@\endcsname\relax
+ \@tempswafalse
+ \else
+ \expandafter\let\csname TY@SF\the\count@\expandafter\endcsname
+ \csname TY@F\the\count@\endcsname
+ \global\expandafter\let\csname TY@F\the\count@\endcsname\relax
+ \expandafter\let\csname TY@S\the\count@\expandafter\endcsname
+ \csname TY@\the\count@\endcsname
+ \fi}%
+ \global\TY@count\@ne
+ \TY@width\xdef{0pt}%
+ \global\TY@tablewidth\z@
+ \global\TY@linewidth#1\relax
+Z\message{^^J^^JTable^^J%
+Z Target Width: \the\TY@linewidth^^J%
+Z \string\tabcolsep: \the\tabcolsep\space
+Z \string\arrayrulewidth: \the\arrayrulewidth\space
+Z \string\doublerulesep: \the\doublerulesep^^J%
+Z \string\tymin: \the\tymin\space
+Z \string\tymax: \the\tymax^^J}%
+ \let\@classz\TY@classz
+ \let\verb\TX@verb
+ \toks@{}\TY@get@body}
+\let\TY@@mkpream\@mkpream
+\def\TY@mkpream{%
+ \def\@addamp{%
+ \if@firstamp \@firstampfalse \else
+ \global\advance\TY@count\@ne
+ \edef\@preamble{\@preamble &}\fi
+ \TY@width\xdef{0pt}}%
+ \def\@acol{%
+ \TY@subwidth\col@sep
+ \@addtopreamble{\hskip\col@sep}}%
+ \let\@arrayrule\TY@arrayrule
+ \let\@classvi\TY@classvi
+ \def\@classv{\save@decl
+ \expandafter\NC@ecs\@nextchar\extracolsep{}\extracolsep\@@@
+ \sbox\z@{\d@llarbegin\@nextchar\d@llarend}%
+ \TY@subwidth{\wd\z@}%
+ \@addtopreamble{\d@llarbegin\the@toks\the\count@\relax\d@llarend}%
+ \prepnext@tok}%
+ \global\let\@mkpream\TY@@mkpream
+ \TY@@mkpream}
+\def\TY@arrayrule{%
+ \TY@subwidth\arrayrulewidth
+ \@addtopreamble \vline}
+\def\TY@classvi{\ifcase \@lastchclass
+ \@acol \or
+ \TY@subwidth\doublerulesep
+ \@addtopreamble{\hskip \doublerulesep}\or
+ \@acol \or
+ \@classvii
+ \fi}
+\def\TY@tab{%
+ \setbox\z@\hbox\bgroup
+ \let\[$\let\]$%
+ \let\equation$\let\endequation$%
+ \col@sep\tabcolsep
+ \let\d@llarbegin\begingroup\let\d@llarend\endgroup
+ \let\@mkpream\TY@mkpream
+ \def\multicolumn##1##2##3{\multispan##1\relax}%
+ \CT@start\TY@tabarray}
+\def\TY@tabarray{\@ifnextchar[{\TY@array}{\@array[t]}}
+\def\TY@array[#1]{\@array[t]}
+\def\TY@width#1{%
+ \expandafter#1\csname TY@\the\TY@count\endcsname}
+\def\TY@subwidth#1{%
+ \TY@width\dimen@
+ \advance\dimen@-#1\relax
+ \TY@width\xdef{\the\dimen@}%
+ \global\advance\TY@linewidth-#1\relax}
+\def\endtabulary{%
+ \gdef\@halignto{}%
+ \let\TY@footnote\footnote%
+ \def\footnote{}% prevent footnotes from doing anything
+ \expandafter\TY@tab\the\toks@
+ \crcr\omit
+ {\xdef\TY@save@row{}%
+ \loop
+ \advance\TY@count\m@ne
+ \ifnum\TY@count>\z@
+ \xdef\TY@save@row{\TY@save@row&\omit}%
+ \repeat}\TY@save@row
+ \endarray\global\setbox1=\lastbox\setbox0=\vbox{\unvbox1
+ \unskip\global\setbox1=\lastbox}\egroup
+ \dimen@\TY@linewidth
+ \divide\dimen@\TY@count
+ \ifdim\dimen@<\tymin
+ \TY@warn{tymin too large (\the\tymin), resetting to \the\dimen@}%
+ \tymin\dimen@
+ \fi
+ \setbox\tw@=\hbox{\unhbox\@ne
+ \loop
+\@tempdima=\lastskip
+\ifdim\@tempdima>\z@
+Z \message{ecs=\the\@tempdima^^J}%
+ \global\advance\TY@linewidth-\@tempdima
+\fi
+ \unskip
+ \setbox\tw@=\lastbox
+ \ifhbox\tw@
+Z \message{Col \the\TY@count: Initial=\the\wd\tw@\space}%
+ \ifdim\wd\tw@>\tymax
+ \wd\tw@\tymax
+Z \message{> max\space}%
+Z \else
+Z \message{ \@spaces\space}%
+ \fi
+ \TY@width\dimen@
+Z \message{\the\dimen@\space}%
+ \advance\dimen@\wd\tw@
+Z \message{Final=\the\dimen@\space}%
+ \TY@width\xdef{\the\dimen@}%
+ \ifdim\dimen@<\tymin
+Z \message{< tymin}%
+ \global\advance\TY@linewidth-\dimen@
+ \expandafter\xdef\csname TY@F\the\TY@count\endcsname
+ {\the\dimen@}%
+ \else
+ \expandafter\ifx\csname TY@F\the\TY@count\endcsname\z@
+Z \message{***}%
+ \global\advance\TY@linewidth-\dimen@
+ \expandafter\xdef\csname TY@F\the\TY@count\endcsname
+ {\the\dimen@}%
+ \else
+Z \message{> tymin}%
+ \global\advance\TY@tablewidth\dimen@
+ \global\expandafter\let\csname TY@F\the\TY@count\endcsname
+ \maxdimen
+ \fi\fi
+ \advance\TY@count\m@ne
+ \repeat}%
+ \TY@checkmin
+ \TY@checkmin
+ \TY@checkmin
+ \TY@checkmin
+ \TY@count\z@
+ \let\TY@box\TY@box@v
+ \let\footnote\TY@footnote % restore footnotes
+ {\expandafter\TY@final\the\toks@\endTY@final}%
+ \count@\z@
+ \@tempswatrue
+ \@whilesw\if@tempswa\fi{%
+ \advance\count@\@ne
+ \expandafter\ifx\csname TY@SF\the\count@\endcsname\relax
+ \@tempswafalse
+ \else
+ \global\expandafter\let\csname TY@F\the\count@\expandafter\endcsname
+ \csname TY@SF\the\count@\endcsname
+ \global\expandafter\let\csname TY@\the\count@\expandafter\endcsname
+ \csname TY@S\the\count@\endcsname
+ \fi}%
+ \TY@linewidth\@ovxx
+ \TY@tablewidth\@ovyy
+ \ifnum0=`{\fi}}
+\def\TY@checkmin{%
+ \let\TY@checkmin\relax
+\ifdim\TY@tablewidth>\z@
+ \Gscale@div\TY@ratio\TY@linewidth\TY@tablewidth
+ \ifdim\TY@tablewidth <\TY@linewidth
+ \def\TY@ratio{1}%
+ \fi
+\else
+ \TY@warn{No suitable columns!}%
+ \def\TY@ratio{1}%
+\fi
+\count@\z@
+Z \message{^^JLine Width: \the\TY@linewidth,
+Z Natural Width: \the\TY@tablewidth,
+Z Ratio: \TY@ratio^^J}%
+\@tempdima\z@
+\loop
+\ifnum\count@<\TY@count
+\advance\count@\@ne
+ \ifdim\csname TY@F\the\count@\endcsname>\tymin
+ \dimen@\csname TY@\the\count@\endcsname
+ \dimen@\TY@ratio\dimen@
+ \ifdim\dimen@<\tymin
+Z \message{Column \the\count@\space ->}%
+ \global\expandafter\let\csname TY@F\the\count@\endcsname\tymin
+ \global\advance\TY@linewidth-\tymin
+ \global\advance\TY@tablewidth-\csname TY@\the\count@\endcsname
+ \let\TY@checkmin\TY@@checkmin
+ \else
+ \expandafter\xdef\csname TY@F\the\count@\endcsname{\the\dimen@}%
+ \advance\@tempdima\csname TY@F\the\count@\endcsname
+ \fi
+ \fi
+Z \dimen@\csname TY@F\the\count@\endcsname\message{\the\dimen@, }%
+\repeat
+Z \message{^^JTotal:\the\@tempdima^^J}%
+}
+\let\TY@@checkmin\TY@checkmin
+\newdimen\TY@linewidth
+\def\tyformat{\everypar{{\nobreak\hskip\z@skip}}}
+\newdimen\tymin
+\tymin=10pt
+\newdimen\tymax
+\tymax=2\textwidth
+\def\@testpach{\@chclass
+ \ifnum \@lastchclass=6 \@ne \@chnum \@ne \else
+ \ifnum \@lastchclass=7 5 \else
+ \ifnum \@lastchclass=8 \tw@ \else
+ \ifnum \@lastchclass=9 \thr@@
+ \else \z@
+ \ifnum \@lastchclass = 10 \else
+ \edef\@nextchar{\expandafter\string\@nextchar}%
+ \@chnum
+ \if \@nextchar c\z@ \else
+ \if \@nextchar l\@ne \else
+ \if \@nextchar r\tw@ \else
+ \if \@nextchar C7 \else
+ \if \@nextchar L8 \else
+ \if \@nextchar R9 \else
+ \if \@nextchar J10 \else
+ \z@ \@chclass
+ \if\@nextchar |\@ne \else
+ \if \@nextchar !6 \else
+ \if \@nextchar @7 \else
+ \if \@nextchar <8 \else
+ \if \@nextchar >9 \else
+ 10
+ \@chnum
+ \if \@nextchar m\thr@@\else
+ \if \@nextchar p4 \else
+ \if \@nextchar b5 \else
+ \z@ \@chclass \z@ \@preamerr \z@ \fi \fi \fi \fi\fi \fi \fi\fi \fi
+ \fi \fi \fi \fi \fi \fi \fi \fi \fi \fi \fi}
+\def\TY@classz{%
+ \@classx
+ \@tempcnta\count@
+ \ifx\TY@box\TY@box@v
+ \global\advance\TY@count\@ne
+ \fi
+ \let\centering c%
+ \let\raggedright\noindent
+ \let\raggedleft\indent
+ \let\arraybackslash\relax
+ \prepnext@tok
+ \ifnum\@chnum<4
+ \global\expandafter\let\csname TY@F\the\TY@count\endcsname\z@
+ \fi
+ \ifnum\@chnum=6
+ \global\expandafter\let\csname TY@F\the\TY@count\endcsname\z@
+ \fi
+ \@addtopreamble{%
+ \ifcase\@chnum
+ \hfil \d@llarbegin\insert@column\d@llarend \hfil \or
+ \kern\z@
+ \d@llarbegin \insert@column \d@llarend \hfil \or
+ \hfil\kern\z@ \d@llarbegin \insert@column \d@llarend \or
+ $\vcenter\@startpbox{\@nextchar}\insert@column \@endpbox $\or
+ \vtop \@startpbox{\@nextchar}\insert@column \@endpbox \or
+ \vbox \@startpbox{\@nextchar}\insert@column \@endpbox \or
+ \d@llarbegin \insert@column \d@llarend \or% dubious "s" case
+ \TY@box\centering\or
+ \TY@box\raggedright\or
+ \TY@box\raggedleft\or
+ \TY@box\relax
+ \fi}\prepnext@tok}
+\def\TY@box#1{%
+ \ifx\centering#1%
+ \hfil \d@llarbegin\insert@column\d@llarend \hfil \else
+ \ifx\raggedright#1%
+ \kern\z@%<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+ \d@llarbegin \insert@column \d@llarend \hfil \else
+ \ifx\raggedleft#1%
+ \hfil\kern\z@ \d@llarbegin \insert@column \d@llarend \else
+ \ifx\relax#1%
+ \d@llarbegin \insert@column \d@llarend
+ \fi \fi \fi \fi}
+\def\TY@box@v#1{%
+ \vtop \@startpbox{\csname TY@F\the\TY@count\endcsname}%
+ #1\arraybackslash\tyformat
+ \insert@column\@endpbox}
+\newdimen\TY@tablewidth
+\def\Gscale@div#1#2#3{%
+ \setlength\dimen@{#3}%
+ \ifdim\dimen@=\z@
+ \PackageError{graphics}{Division by 0}\@eha
+ \dimen@#2%
+ \fi
+ \edef\@tempd{\the\dimen@}%
+ \setlength\dimen@{#2}%
+ \count@65536\relax
+ \ifdim\dimen@<\z@
+ \dimen@-\dimen@
+ \count@-\count@
+ \fi
+ \loop
+ \ifdim\dimen@<8192\p@
+ \dimen@\tw@\dimen@
+ \divide\count@\tw@
+ \repeat
+ \dimen@ii=\@tempd\relax
+ \divide\dimen@ii\count@
+ \divide\dimen@\dimen@ii
+ \edef#1{\strip@pt\dimen@}}
+\long\def\TY@get@body#1\end
+ {\toks@\expandafter{\the\toks@#1}\TY@find@end}
+\def\TY@find@end#1{%
+ \def\@tempa{#1}%
+ \ifx\@tempa\TY@\def\@tempa{\end{#1}}\expandafter\@tempa
+ \else\toks@\expandafter
+ {\the\toks@\end{#1}}\expandafter\TY@get@body\fi}
+\def\TY@warn{%
+ \PackageWarning{tabulary}}
+\catcode`\Z=11
+\AtBeginDocument{
+\@ifpackageloaded{colortbl}{%
+\expandafter\def\expandafter\@mkpream\expandafter#\expandafter1%
+ \expandafter{%
+ \expandafter\let\expandafter\CT@setup\expandafter\relax
+ \expandafter\let\expandafter\CT@color\expandafter\relax
+ \expandafter\let\expandafter\CT@do@color\expandafter\relax
+ \expandafter\let\expandafter\color\expandafter\relax
+ \expandafter\let\expandafter\CT@column@color\expandafter\relax
+ \expandafter\let\expandafter\CT@row@color\expandafter\relax
+ \@mkpream{#1}}
+\let\TY@@mkpream\@mkpream
+\def\TY@classz{%
+ \@classx
+ \@tempcnta\count@
+ \ifx\TY@box\TY@box@v
+ \global\advance\TY@count\@ne
+ \fi
+ \let\centering c%
+ \let\raggedright\noindent
+ \let\raggedleft\indent
+ \let\arraybackslash\relax
+ \prepnext@tok
+\expandafter\CT@extract\the\toks\@tempcnta\columncolor!\@nil
+ \ifnum\@chnum<4
+ \global\expandafter\let\csname TY@F\the\TY@count\endcsname\z@
+ \fi
+ \ifnum\@chnum=6
+ \global\expandafter\let\csname TY@F\the\TY@count\endcsname\z@
+ \fi
+ \@addtopreamble{%
+ \setbox\z@\hbox\bgroup\bgroup
+ \ifcase\@chnum
+ \hskip\stretch{.5}\kern\z@
+ \d@llarbegin\insert@column\d@llarend\hskip\stretch{.5}\or
+ \kern\z@%<<<<<<<<<<<<<<<<<<<<<<<<<<<
+ \d@llarbegin \insert@column \d@llarend \hfill \or
+ \hfill\kern\z@ \d@llarbegin \insert@column \d@llarend \or
+ $\vcenter\@startpbox{\@nextchar}\insert@column \@endpbox $\or
+ \vtop \@startpbox{\@nextchar}\insert@column \@endpbox \or
+ \vbox \@startpbox{\@nextchar}\insert@column \@endpbox \or
+ \d@llarbegin \insert@column \d@llarend \or% dubious s case
+ \TY@box\centering\or
+ \TY@box\raggedright\or
+ \TY@box\raggedleft\or
+ \TY@box\relax
+ \fi
+ \egroup\egroup
+\begingroup
+ \CT@setup
+ \CT@column@color
+ \CT@row@color
+ \CT@do@color
+\endgroup
+ \@tempdima\ht\z@
+ \advance\@tempdima\minrowclearance
+ \vrule\@height\@tempdima\@width\z@
+\unhbox\z@
+}\prepnext@tok}%
+ \def\TY@arrayrule{%
+ \TY@subwidth\arrayrulewidth
+ \@addtopreamble{{\CT@arc@\vline}}}%
+ \def\TY@classvi{\ifcase \@lastchclass
+ \@acol \or
+ \TY@subwidth\doublerulesep
+ \ifx\CT@drsc@\relax
+ \@addtopreamble{\hskip\doublerulesep}%
+ \else
+ \@addtopreamble{{\CT@drsc@\vrule\@width\doublerulesep}}%
+ \fi\or
+ \@acol \or
+ \@classvii
+ \fi}%
+}{%
+\let\CT@start\relax
+}
+}
+{\uccode`\*=`\ %
+\uppercase{\gdef\TX@verb{%
+ \leavevmode\null\TX@vwarn
+ {\ifnum0=`}\fi\ttfamily\let\\\ignorespaces
+ \@ifstar{\let~*\TX@vb}{\TX@vb}}}}
+\def\TX@vb#1{\def\@tempa##1#1{\toks@{##1}\edef\@tempa{\the\toks@}%
+ \expandafter\TX@v\meaning\@tempa\\ \\\ifnum0=`{\fi}}\@tempa!}
+\def\TX@v#1!{\afterassignment\TX@vfirst\let\@tempa= }
+\begingroup
+\catcode`\*=\catcode`\#
+\catcode`\#=12
+\gdef\TX@vfirst{%
+ \if\@tempa#%
+ \def\@tempb{\TX@v@#}%
+ \else
+ \let\@tempb\TX@v@
+ \if\@tempa\space~\else\@tempa\fi
+ \fi
+ \@tempb}
+\gdef\TX@v@*1 *2{%
+ \TX@v@hash*1##\relax\if*2\\\else~\expandafter\TX@v@\fi*2}
+\gdef\TX@v@hash*1##*2{*1\ifx*2\relax\else#\expandafter\TX@v@hash\fi*2}
+\endgroup
+\def\TX@vwarn{%
+ \@warning{\noexpand\verb may be unreliable inside tabularx/y}%
+ \global\let\TX@vwarn\@empty}
+\endinput
+%%
+%% End of file `tabulary.sty'.
diff --git a/source/EV3.m b/source/EV3.m
index 29aeda84acbb2c7d4f03abd06626ad0690fd095f..851a4fab8e2320507139ebadcebad9c29136e653 100755
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -8,41 +8,45 @@ classdef EV3 < MaskedHandle
% 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 an input argument of a method is marked as optional, the argument needs to be
+ % 'announced' by a preceding 2nd argument, which is a string containing the name of the argument.
+ % For example, Motor.setProperties may be given a power-parameter. The syntax would be as
+ % follows: *brickObject.motorA.setProperties('power', 50);*
+ %
%
%
% Attributes:
- % motorA (Motor): Motor-object interfacing port A
- % motorB (Motor): Motor-object interfacing port B
- % motorC (Motor): Motor-object interfacing port C
- % motorD (Motor): Motor-object interfacing port D
- % sensor1 (Sensor): Motor-object interfacing port 1
- % sensor2 (Sensor): Motor-object interfacing port 2
- % sensor3 (Sensor): Motor-object interfacing port 3
- % sensor4 (Sensor): Motor-object interfacing port 4
+ % motorA (Motor): Motor-object interfacing port A. See also :class:`Motor`.
+ % motorB (Motor): Motor-object interfacing port B. See also :class:`Motor`.
+ % motorC (Motor): Motor-object interfacing port C. See also :class:`Motor`.
+ % motorD (Motor): Motor-object interfacing port D. See also :class:`Motor`.
+ % sensor1 (Sensor): Motor-object interfacing port 1. See also :class:`Sensor`.
+ % sensor2 (Sensor): Motor-object interfacing port 2. See also :class:`Sensor`.
+ % sensor3 (Sensor): Motor-object interfacing port 3. See also :class:`Sensor`.
+ % sensor4 (Sensor): Motor-object interfacing port 4. See also :class:`Sensor`.
% debug (numeric in {0,1,2}): Debug mode. *[WRITABLE]*
%
% - 0: Debug turned off
% - 1: Debug turned on for EV3-object -> enables feedback in the console about what firmware-commands have been called when using a method
% - 2: Low-level-Debug turned on -> each packet sent and received is printed to the console
%
- % batteryMode (string in {'Percentage', 'Voltage'}): Mode for reading battery charge.
- % *[WRITABLE]*
- % batteryValue (numeric): Current battery charge. Depending on batteryMode, the reading
- % is either in percentage or voltage. *[READ-ONLY]*
+ % batteryMode (string in {'Percentage', 'Voltage'}): Mode for reading battery charge. See also :attr:`batteryValue`. *[WRITABLE]*
+ % batteryValue (numeric): Current battery charge. Depending on batteryMode, the reading is either in percentage or voltage. See also :attr:`batteryMode`. *[READ-ONLY]*
% isConnected (bool): True if virtual brick-object is connected to physical one. *[READ-ONLY]*
%
%
- % Examples:
- % b = EV3(); |br|
- % b.connect('usb'); |br|
- % ma = b.motorA; |br|
- % ma.setProperties('power', 50, 'limitValue', 720); |br|
- % ma.start(); |br|
+ % Example:
+ % % This example expects a motor at port A and a (random) sensor at port 1 |br|
+ % b = EV3(); % |br|
+ % b.connect('usb'); % |br|
+ % ma = b.motorA; % |br|
+ % ma.setProperties('power', 50, 'limitValue', 720); % |br|
+ % ma.start(); % |br|
% % fun |br|
- % b.sensor1.value |br|
- % b.waitFor(); |br|
- % b.beep(); |br|
- % delete b; |br|
+ % ma.waitFor(); % |br|
+ % disp(b.sensor1.value); % |br|
+ % b.beep(); % |br|
+ % delete b; % |br|
properties
% batteryMode (string in {'Percentage', 'Voltage'}): Mode for reading battery charge. [WRITABLE]
@@ -67,32 +71,31 @@ classdef EV3 < MaskedHandle
properties (SetAccess = private) % Read-only properties that are set internally
% isConnected (bool): True if virtual brick-object is connected to physical one. [READ-ONLY]
- % See also EV3.CONNECT, EV3.DISCONNECT
isConnected = false;
- % motorA (Motor): Motor-object interfacing port A
+ % motorA (Motor): Motor-object interfacing port A.
% See also MOTOR
motorA;
- % motorB (Motor): Motor-object interfacing port B
+ % motorB (Motor): Motor-object interfacing port B.
% See also MOTOR
motorB;
- % motorC (Motor): Motor-object interfacing port C
+ % motorC (Motor): Motor-object interfacing port C.
% See also MOTOR
motorC;
- % motorD (Motor): Motor-object interfacing port D
+ % motorD (Motor): Motor-object interfacing port D.
% See also MOTOR
motorD;
- % sensor1 (Sensor): Sensor-object interfacing port 1
+ % sensor1 (Sensor): Sensor-object interfacing port 1.
% See also SENSOR
sensor1;
- % sensor2 (Sensor): Sensor-object interfacing port 2
+ % sensor2 (Sensor): Sensor-object interfacing port 2.
% See also SENSOR
sensor2;
- % sensor3 (Sensor): Sensor-object interfacing port 3
+ % sensor3 (Sensor): Sensor-object interfacing port 3.
% See also SENSOR
sensor3;
- % sensor4 (Sensor): Sensor-object interfacing port 4
+ % sensor4 (Sensor): Sensor-object interfacing port 4.
% See also SENSOR
sensor4;
end
@@ -116,9 +119,9 @@ classdef EV3 < MaskedHandle
% parameters.
%
% Arguments
- % varargin: see setProperties(ev3, varargin)
+ % varargin: see setProperties(ev3, varargin).
%
- % See also SETPROPERTIES
+ % See also SETPROPERTIES / :meth:`setProperties(ev3, varargin)`
ev3.setProperties(varargin{:});
@@ -137,7 +140,7 @@ classdef EV3 < MaskedHandle
end
function delete(ev3)
- % Disconnects from physical brick and deletes this instance
+ % Disconnects from physical brick and deletes this instance.
if ev3.isConnected
ev3.disconnect();
@@ -151,19 +154,19 @@ classdef EV3 < MaskedHandle
% Arguments:
% connectionType (string in {'bt', 'usb'}): Connection type
% serPort (string in {'/dev/rfcomm1', '/dev/rfcomm2', ...}): Path to serial port
- % (if 'bt')
- % beep (bool): If true, EV3 beeps if connection has been established
+ % (necessary if connectionType is 'bt'). *[OPTIONAL]*
+ % beep (bool): If true, EV3 beeps if connection has been established. *[OPTIONAL]*
%
- % Examples:
+ % Example:
% % Setup bluetooth connection via com-port 0 |br|
- % b = EV3(); |br|
- % b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+ % b = EV3(); % |br|
+ % b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
% % Setup usb connection, beep when connection has been established
- % b = EV3(); |br|
- % b.connect('usb', 'beep', 'on', ); |br|
+ % b = EV3(); % |br|
+ % b.connect('usb', 'beep', 'on', ); % |br|
%
+ % See also ISCONNECTED / :attr:`isConnected`
- % Check connection
if ev3.isConnected
if isCommInterfaceValid(ev3.commInterface)
error('EV3::connect: Already connected.');
@@ -233,12 +236,11 @@ classdef EV3 < MaskedHandle
% * Gets called automatically when EV3-object is destroyed.
%
% Example:
- % b = EV3();
- % b.connect('bt', 'serPort', '/dev/rfcomm0');
- % % do stuff
- % b.disconnect();
+ % b = EV3(); % |br|
+ % b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
+ % % do stuff |br|
+ % b.disconnect(); % |br|
- % Reset motors and sensors before disconnecting
ev3.resetPhysicalBrick();
% Disconnect motors and sensors
@@ -264,10 +266,10 @@ classdef EV3 < MaskedHandle
%% Device functions
function stopAllMotors(ev3)
- % Sends a stop-command to all motor-ports
+ % Sends a stop-command to all motor-ports.
if ~ev3.isConnected
- stopAllMotors(['EV3::beep: Brick-Object not connected physical brick. ',...
+ error(['EV3::stopAllMotors: Brick-Object not connected physical brick. ',...
'You have to call ev3.connect(...) first!']);
end
@@ -279,12 +281,12 @@ classdef EV3 < MaskedHandle
% 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).
%
% Example:
- % b = EV3(); |br|
- % b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
- % b.beep(); |br|
+ % b = EV3(); % |br|
+ % b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
+ % b.beep(); % |br|
%
if ~ev3.isConnected
@@ -308,8 +310,8 @@ classdef EV3 < MaskedHandle
% duration (numeric >0): in milliseconds
%
% Example:
- % b = EV3(); |br|
- % b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+ % b = EV3(); % |br|
+ % b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
% b.playTone(40, 5000, 1000); % Plays tone with 40% volume and 5000Hz for 1
% second. |br|
%
@@ -327,11 +329,11 @@ classdef EV3 < MaskedHandle
end
function stopTone(ev3)
- % Stops tone currently played
+ % Stops tone currently played.
%
% Example:
- % b = EV3(); |br|
- % b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+ % b = EV3(); % |br|
+ % b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
% b.playTone(10,100,100000000); % Accidentally given wrong tone duration :) |br|
% b.stopTone(); % Stops tone immediately. |br|
%
@@ -355,11 +357,11 @@ classdef EV3 < MaskedHandle
% status (bool): True if a tone is being played
%
% Example
- % b = EV3(); |br|
- % b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
- % b.playTone(10, 100, 1000); |br|
- % pause(0.5); |br|
- % b.tonePlayed() -> Outputs 1 to console. |br|
+ % b = EV3(); % |br|
+ % b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
+ % b.playTone(10, 100, 1000); % |br|
+ % pause(0.5); % Small pause is necessary as tone does not start instantaneously |br|
+ % b.tonePlayed(); % -> Outputs 1 to console. |br|
%
if ~ev3.isConnected
@@ -378,18 +380,18 @@ classdef EV3 < MaskedHandle
function set.commInterface(ev3, comm)
if ~isCommInterfaceValid(comm)
error('EV3::set.commInterface: Handle to Brick-object not valid.');
- else
- ev3.commInterface = comm;
end
+
+ ev3.commInterface = comm;
end
function set.batteryMode(ev3, batteryMode)
validModes = {'Voltage', 'Percentage'};
if ~ischar(batteryMode) || ~ismember(batteryMode, validModes)
error('EV3::set.batteryMode: Given parameter is not a valid battery mode.');
- else
- ev3.batteryMode = batteryMode;
end
+
+ ev3.batteryMode = batteryMode;
end
function set.debug(ev3, debug)
@@ -412,12 +414,12 @@ classdef EV3 < MaskedHandle
% batteryMode (string in {'Voltage'/'Percentage'}): see EV3.batteryMode *[OPTIONAL]*
%
% Example:
- % b = EV3(); |br|
- % b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
- % b.setProperties('debug', 'on', 'batteryMode', 'Voltage'); |br|
- % % Instead of: b.debug = 'on'; b.batteryMode = 'Voltage'; |br|
+ % b = EV3(); % |br|
+ % b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
+ % b.setProperties('debug', 'on', 'batteryMode', 'Voltage'); % |br|
+ % % Instead of: b.debug = 'on'; b.batteryMode = 'Voltage'; % |br|
%
- % See also EV3.DEBUG, EV3.BATTERYMODE
+ % See also EV3.DEBUG, EV3.BATTERYMODE / :attr:`debug`, :attr:`batteryMode`
p = inputParser();
@@ -445,7 +447,7 @@ classdef EV3 < MaskedHandle
%% Getter
function bat = get.batteryValue(ev3)
if ~ev3.isConnected
- warning('EV3::getBattery: EV3-Object not connected to physical EV3.');
+ warning(ID('noConnection'), 'EV3::getBattery: EV3-Object not connected to physical EV3.');
bat = 0;
return;
@@ -455,7 +457,7 @@ classdef EV3 < MaskedHandle
end
function display(ev3)
- % Displays EV3-properties and its devices
+ % Displays EV3-properties and its devices.
displayProperties(ev3);
@@ -476,10 +478,7 @@ classdef EV3 < MaskedHandle
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!']);
- end
+ % Retrieve batteryValue from brick in current mode. (Wrapped by EV3.batteryValue)
if strcmpi(ev3.batteryMode, 'Percentage')
bat = ev3.commInterface.uiReadLbatt();
@@ -487,7 +486,7 @@ classdef EV3 < MaskedHandle
if ev3.debug
fprintf('(DEBUG) EV3::getBattery: Called uiReadLBatt.\n');
end
- elseif strcmpi(ev3.batteryMode, 'Voltage')
+ else
bat = ev3.commInterface.uiReadVbatt();
if ev3.debug
@@ -497,16 +496,20 @@ classdef EV3 < MaskedHandle
end
function resetPhysicalBrick(ev3)
+ % Resets Motors and Sensors.
+ %
+ % Notes:
+ % * Gets called automatically by EV3.delete.
+ %
+ % See also MOTOR.RESETPHYSICALMOTOR, SENSOR.RESETPHYSICALSENSOR
+
sensors = {'sensor1', 'sensor2', 'sensor3', 'sensor4'};
motors = {'motorA', 'motorB', 'motorC', 'motorD'};
for i = 1:4
motor = motors{i};
- ev3.(motor).resetPhysicalMotor();
- end
-
- for i = 1:4
sensor = sensors{i};
+ ev3.(motor).resetPhysicalMotor();
ev3.(sensor).resetPhysicalSensor();
end
end
diff --git a/source/ID.m b/source/ID.m
index b108a1c633f4cf667b31f2c46e37b18fcea9521b..82627073d10d34d3732be224357ed37227b8af15 100755
--- a/source/ID.m
+++ b/source/ID.m
@@ -1,7 +1,13 @@
-function id = ID()
+function id = ID(varargin)
% Generates a string that serves as an error-ID for a calling function
+% Optionally, a string can be given as argument. It will be appended to the ID.
+% Setup constants
toolbox = 'RWTHMindstormsEV3';
+appendix = '';
+if nargin > 0 && ischar(varargin{0})
+ appendix = [':', varargin{0}];
+end
% Get stack trace
stackTrace = dbstack();
@@ -22,9 +28,9 @@ functionName = callerList{length(callerList)};
% Create id
if length(callerList) > 1
className = callerList{length(callerList)-1};
- id = [toolbox, ':', className, ':', functionName];
+ id = [toolbox, ':', className, ':', functionName, appendix];
else
- id = [toolbox, ':', functionName];
+ id = [toolbox, ':', functionName, appendix];
end
end
diff --git a/source/Motor.m b/source/Motor.m
index 57e0a024b53bd3cc399eee7d2ec32ea3eca8a2ce..c16c29821d1dc8eb29aa8cd50f2c34c01cbe29d2 100755
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -11,29 +11,33 @@ classdef Motor < MaskedHandle & dynamicprops
% * The Motor-class represents motor ports, not individual motors!
% * If you start a motor with power=0, the internal state will still be set to
% 'isRunning'
+ % * When an input argument of a method is marked as optional, the argument needs to be
+ % 'announced' by a preceding 2nd argument, which is a string containing the name of the argument.
+ % For example, Motor.setProperties may be given a power-parameter. The syntax would be as
+ % follows: *brickObject.motorA.setProperties('power', 50);*
%
% 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
+ % this point, the Brick internally inputs 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]*
+ % until reaching its defined speed. See also :attr:`limitValue`, :attr:`limitMode`. *[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]*
+ % until it has stopped. See also :attr:`limitValue`, :attr:`limitMode`. *[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]*
+ % milliseconds. See also :attr:`limitMode`. *[WRITABLE]*
+ % limitMode ('Tacho'|'Time'): Mode for motor limit. See also :attr:`limitValue`. *[WRITABLE]*
% brakeMode ('Brake'|'Coast'): Action done when stopping. 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]*
@@ -41,9 +45,9 @@ classdef Motor < MaskedHandle & dynamicprops
% 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]*
+ % tachoCount (numeric): Current tacho count in degrees. *[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]*
+ % otherwise it will probably be lower than that. See also :attr:`speedRegulation`. *[READ-ONLY]*
% type (DeviceType): Type of connected device if any. *[READ-ONLY]*
@@ -54,7 +58,7 @@ classdef Motor < MaskedHandle & dynamicprops
% speedRegulation (bool): Speed regulation turned on or off. [WRITABLE]
% 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).
+ % goes up to around 70-80 (at this point, the Brick internally inputs 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;
@@ -98,7 +102,7 @@ classdef Motor < MaskedHandle & dynamicprops
% isRunning (bool): True if motor is running. [READ-ONLY]
isRunning;
- % tachoCount (numeric): Current tacho count. [READ-ONLY]
+ % tachoCount (numeric): Current tacho count in degrees. [READ-ONLY]
tachoCount;
% currentSpeed (numeric): Current speed of motor. [READ-ONLY]
@@ -135,7 +139,7 @@ classdef Motor < MaskedHandle & dynamicprops
% connectedToBrick (bool): True if virtual brick is connected to physical brick.
connectedToBrick = false;
- % state (MotorState): State-struct consisting of several special Motor-flags
+ % state (MotorState): State-struct consisting of several special Motor-flags .
% See also MOTORSTATE
state = MotorState();
end
@@ -149,7 +153,7 @@ classdef Motor < MaskedHandle & dynamicprops
% See also PORTNO
portNo;
- % portInput (PortInput): Internal number of motor port if accessed via input-opCodes
+ % portInput (PortInput): Internal number of motor port if accessed via input-opCodes.
% - Port 'A': 16
% - Port 'B': 17
% - Port 'C': 18
@@ -157,19 +161,19 @@ classdef Motor < MaskedHandle & dynamicprops
% See also PORTINPUT
portInput;
- % isSynced (bool): True if motor is running in synced mode
+ % isSynced (bool): True if motor is running in synced mode.
isSynced;
- % isMaster (bool): True if motor is running in synced mode and has a slave
+ % isMaster (bool): True if motor is running in synced mode and has a slave.
isMaster;
- % isSlave (bool): True if motor is running in synced mode and has a master
+ % isSlave (bool): True if motor is running in synced mode and has a master.
isSlave;
- % physicalMotorConnected (bool): True if physical motor is connected to this port
+ % 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 (numeric): internal tacho counter used for positioning the motor with a limit.
internalTachoCount;
end
@@ -178,12 +182,10 @@ classdef Motor < MaskedHandle & dynamicprops
function motor = Motor(varargin)
% Sets properties of Motor-object and indicates end of init-phase when it's done.
%
- % Notes:
- % * input-arguments will directly be handed to Motor.setProperties
- %
% Arguments:
% varargin: see setProperties(motor, varargin)
%
+ % See also SETPROPERTIES / :meth:`setProperties(ev3, varargin)`
motor.setProperties(varargin{:});
motor.init = false;
@@ -191,16 +193,8 @@ classdef Motor < MaskedHandle & dynamicprops
%% Brick functions
function start(motor)
- % Starts the motor
- %
- % 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
- % to run the with a tacholimit, it will stop sooner or later than expected,
- % or may not even start at all.
+ % Starts the motor.
- % Check connection and if motor is already running
if ~motor.connectedToBrick
error('Motor::start: Motor-Object not connected to comm handle.');
elseif ~motor.physicalMotorConnected
@@ -327,7 +321,14 @@ classdef Motor < MaskedHandle & dynamicprops
end
function stop(motor)
- % Stops the motor
+ % Stops the motor.
+ %
+ % Notes:
+ % * If this motor has been started synced with another one (either as master or
+ % slave, using Motor.syncedStart), syncedStop() will be called, stopping both
+ % motors.
+ %
+ % See also MOTOR.START, MOTOR.SYNCEDSTOP / :meth:`start`, :meth:`syncedStop`
if ~motor.connectedToBrick
error('Motor::stop: Motor-Object not connected to comm handle.');
@@ -337,8 +338,6 @@ classdef Motor < MaskedHandle & dynamicprops
elseif motor.isSynced && motor.isRunning
motor.syncedStop();
return;
-% 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_);
@@ -351,7 +350,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function syncedStart(motor, syncMotor, varargin)
- % Starts this motor synchronized with another
+ % Starts this motor synchronized with another.
%
% The motor, with which this method is called, acts as a *master*, meaning that the
% synchronized control is done with it und uses its parameters. When syncedStart is
@@ -367,7 +366,7 @@ classdef Motor < MaskedHandle & dynamicprops
% turnRatio (numeric in [-200,200]): Ratio between the two master's and the
% slave's motor speed. With values!=0 one motor will be slower than the other
% or even turn into the other direction. This can be used for turning car-like
- % robots, for example. (Read in Firmware-comments in c_output.c): |br|
+ % robots, for example. *[OPTIONAL]* (Read in Firmware-comments in c_output.c): |br|
% -> 0 is moving straight forward |br|
% -> Negative values turn to the left |br|
% -> Positive values turn to the right |br|
@@ -375,20 +374,22 @@ classdef Motor < MaskedHandle & dynamicprops
% -> Value +100 stops the right motor |br|
% -> Values less than -100 makes the left motor run the opposite direction of the right motor (Spin) |br|
% -> Values greater than +100 makes the right motor run the opposite direction of the left motor (Spin) |br|
- %
+ %
% 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
+ % * This is a pretty 'heavy' function, as it tests if both motors are
+ % connected AND aren't running, wasting four packets, keep that in mind.
%
% Example:
- % b = EV3(); |br|
- % b.connect('usb'); |br|
- % m = b.motorA; |br|
- % slave = b.motorB; |br|
- % m.power = 50; |br|
- % m.syncedStart(slave); |br|
+ % b = EV3(); % |br|
+ % b.connect('usb'); % |br|
+ % m = b.motorA; % |br|
+ % slave = b.motorB; % |br|
+ % m.power = 50; % |br|
+ % m.syncedStart(slave); % |br|
% % Do stuff |br|
- % m.stop(); |br|
+ % m.stop(); % |br|
+ %
+ % See also MOTOR.STOP, MOTOR.SYNCEDSTOP / :meth:`stop`, :meth:`syncedStop`
turnRatio = 0;
@@ -422,10 +423,6 @@ classdef Motor < MaskedHandle & dynamicprops
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
-
% If the motor coasts into its stops, the internal tachocount has to be reset
% before each start for it to behave predictable
if motor.brakeMode_ == BrakeMode.Coast || motor.internalTachoCount ~= 0
@@ -489,7 +486,11 @@ classdef Motor < MaskedHandle & dynamicprops
function syncedStop(motor)
% Stops both motors previously started with syncedStart.
%
- % See also MOTOR.SYNCEDSTART
+ % Notes:
+ % * This method is called automatically by stop(), if the motors have been
+ % started using syncedStart, and the regular stop-method has been called afterwards.
+ %
+ % See also MOTOR.SYNCEDSTART, MOTOR.STOP / :meth:`syncedStart`, :meth:`stop`
if ~motor.isSynced
error('Motor::syncedStop: Motor has not been started synchronized with another.');
@@ -536,65 +537,31 @@ classdef Motor < MaskedHandle & dynamicprops
end
function waitFor(motor)
- % 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
+ % * This one's a bit tricky. The opCode which is supposed to be used here, OutputReady,
+ % makes the brick stop sending
% responses until the motor has stopped. For security reasons, in this toolbox
% there is an internal timeout for receiving messages from the brick. It raises
% an error if a reply takes too long, which would happen in this case. As a
% workaround, there is an infinite loop that catches errors from outputReady and
% continues then, until outputReady will actually finish without an error.
- % * (OLD)OutputReady (like OutputTest in isRunning) sometimes doesn't work. If
- % 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).
- % * (OLD)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)
+ % * Workaround: Poll isRunning until it is false (No need to check if motor is
+ % connected as speed correctly returns 0 if it's not)
if ~motor.connectedToBrick
error('Motor::waitFor: Motor-Object not connected to comm handle.');
end
- %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
+ pause(0.03);
+ end
end
function internalReset(motor)
% Resets internal tacho count. Use this if motor behaves weird (i.e. not starting at all, or not correctly
- % running to limitValue)
+ % running to limitValue).
%
% The internal tacho count is used for positioning the motor. When the
% motor is running with a tacho limit, internally it uses another counter than the
@@ -604,11 +571,10 @@ classdef Motor < MaskedHandle & dynamicprops
%
% Notes:
% * A better name would probably be resetPosition...
- % * Gets called automatically when starting the motor and the internal tacho
- % count is > 0
+ % * Gets called automatically when starting the motor and the internal tacho count is > 0
%
%
- % See also MOTOR.RESETTACHOCOUNT
+ % See also MOTOR.RESETTACHOCOUNT / :attr:`resetTachoCount`
if ~motor.connectedToBrick
error(['Motor::internalReset: Motor-Object not connected to brick handle.',...
@@ -627,7 +593,9 @@ classdef Motor < MaskedHandle & dynamicprops
end
function resetTachoCount(motor)
- % Resets tachocount
+ % Resets tachocount.
+ %
+ % See also MOTOR.TACHOCOUNT / :attr:`tachoCount`
if ~motor.connectedToBrick
error('Motor::resetTachoCount: Motor-Object not connected to comm handle.');
@@ -645,10 +613,16 @@ classdef Motor < MaskedHandle & dynamicprops
end
function setBrake(motor, brake)
- % Apply or release brake of motor
+ % Apply or release brake of motor.
%
% Arguments:
% brake (bool): If true, brake will be pulled
+ %
+ % Notes:
+ % * This method does not affect Motor.brakeMode. After the next run, the motor
+ % will again be stopped as specified in Motor.brakeMode.
+ %
+ % See also MOTOR.BRAKEMODE / :attr:`brakeMode`
if ~isBool(brake)
error('Motor::setBrake: Given parameter is not a valid bool.');
@@ -690,12 +664,6 @@ classdef Motor < MaskedHandle & dynamicprops
function set.speedRegulation(motor, speedRegulation)
if ~isBool(speedRegulation)
error('Motor::set.speedRegulation: Given parameter is not a bool.');
-% elseif motor.connectedToBrick && motor.physicalMotorConnected && ~motor.speedRegulation && speedRegulation
-% pause(0.5);
-% if motor.isRunning
-% error(['Motor::set.speedRegulation: Cannot change speed regulation while ', ...
-% 'is motor is moving.']);
-% end
end
speedRegulation = str2bool(speedRegulation);
@@ -809,20 +777,20 @@ classdef Motor < MaskedHandle & dynamicprops
% Sets multiple Motor properties at once using MATLAB's inputParser.
%
% Arguments:
- % debug (bool) *[OPTIONAL]*
- % smoothStart (numeric in [0, limitValue]) *[OPTIONAL]*
- % smoothStop (numeric in [0, limitValue]) *[OPTIONAL]*
- % speedRegulation (bool) *[OPTIONAL]*
- % brakeMode ('Coast'|'Brake') *[OPTIONAL]*
- % limitMode ('Time'|'Tacho') *[OPTIONAL]*
- % limitValue (numeric > 0) *[OPTIONAL]*
- % power (numeric in [-100,100]) *[OPTIONAL]*
- % batteryMode ('Voltage'|'Percentage') *[OPTIONAL]*
+ % debug (bool): *[OPTIONAL]*
+ % smoothStart (numeric in [0, limitValue]): *[OPTIONAL]*
+ % smoothStop (numeric in [0, limitValue]): *[OPTIONAL]*
+ % speedRegulation (bool): *[OPTIONAL]*
+ % brakeMode ('Coast'|'Brake'): *[OPTIONAL]*
+ % limitMode ('Time'|'Tacho'): *[OPTIONAL]*
+ % limitValue (numeric > 0): *[OPTIONAL]*
+ % power (numeric in [-100,100]): *[OPTIONAL]*
+ % batteryMode ('Voltage'|'Percentage'): *[OPTIONAL]*
%
% Example:
- % b = EV3(); |br|
- % b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
- % b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on'); |br|
+ % b = EV3(); % |br|
+ % b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
+ % b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on'); % |br|
% % Instead of: b.motorA.debug = 'on'; |br|
% % b.motorA.power = 50; |br|
% % b.motorA.limitValue = 720; |br|
@@ -929,15 +897,11 @@ classdef Motor < MaskedHandle & dynamicprops
end
function running = get.isRunning(motor)
- running = 0;
-
+ busyFlag = 0;
if motor.connectedToBrick
busyFlag = motor.getBusyFlag();
- else
- busyFlag = 0;
end
- % assert(~(motor.state.startedNotBusy && busyFlag));
running = motor.state.startedNotBusy || busyFlag;
end
@@ -974,7 +938,7 @@ classdef Motor < MaskedHandle & dynamicprops
methods (Access = private) % Private functions that directly interact with commLayer
function success = setPower(motor, power)
- %setPower Sets given power value on the physical Brick.
+ % Sets given power value on the physical Brick.
%
% Notes:
% * If motor is running with a limit, calling outputSpeed/outputPower, to
@@ -987,13 +951,9 @@ classdef Motor < MaskedHandle & dynamicprops
% 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;
return;
- end
-
- % assert(motor.physicalMotorConnected==true);
- % assert(motor.limitValue==0);
+ end;
if motor.speedRegulation
motor.commInterface.outputSpeed(0, motor.port, power);
@@ -1012,23 +972,6 @@ classdef Motor < MaskedHandle & dynamicprops
return;
end
- function setMode(motor, mode) %% DEPRECATED
- if ~motor.connectedToBrick
- error('Motor::getTachoCount: Motor-Object not connected to comm handle.');
- elseif ~motor.physicalMotorConnected
- error('Motor::getTachoCount: No physical motor connected to Port %s',...
- port2str('Motor', motor.port));
- end
-
- motor.commInterface.inputReadSI(0, motor.portInput, mode); % Reading a value implicitly
- % sets the mode.
-
- if motor.debug
- fprintf('(DEBUG) Motor::setMode: Called inputReadSI on Port %s\n',...
- port2str('Motor', motor.port));
- end
- end
-
function [type,mode] = getTypeMode(motor)
if ~motor.connectedToBrick
error('Motor::getTypeMode: Motor-Object not connected to comm handle.');
@@ -1175,8 +1118,6 @@ classdef Motor < MaskedHandle & dynamicprops
%applyState Sets motor state to saved state and deletes the dynamic property in
%which the latter is stored
- %assert(length(motor.findprop('savedState')) ~= 0);
-
motor.state = motor.savedState;
delete(motor.findprop('savedState'))
end
diff --git a/source/Sensor.m b/source/Sensor.m
index 360a06e441cd0280af6016960625d42a1882b156..bbf73675d55a5888a61e181ce902f5711ea141ec 100755
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -8,14 +8,13 @@ classdef Sensor < MaskedHandle
% * 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!
- %
+ % * When an input argument of a method is marked as optional, the argument needs to be
+ % 'announced' by a preceding 2nd argument, which is a string containing the name of the argument.
+ % For example, Motor.setProperties may be given a power-parameter. The syntax would be as
+ % follows: *brickObject.motorA.setProperties('power', 50);*
%
% 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]*
+ % mode (DeviceMode.{Type}): Sensor mode in which the value will be read. By default, mode is set to *DeviceMode.Default.Undefined*. See also :attr:`type`. *[WRITABLE]* |br| 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):
%
% * Touch-Sensor:
% * DeviceMode.Touch.Pushed *[Default]*
@@ -75,7 +74,7 @@ classdef Sensor < MaskedHandle
% 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. *[READ-ONLY]*
+ % :attr:`mode`. *[READ-ONLY]*
% type (DeviceType): Type of physical sensor connected to the port. Possible types are: [READ-ONLY]
%
% * DeviceType.NXTTouch
@@ -238,10 +237,12 @@ classdef Sensor < MaskedHandle
%% Brick functions
function reset(sensor)
- % Resets value on sensor
+ % Resets sensor value.
%
% Notes:
% * 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.');
elseif ~sensor.physicalSensorConnected
@@ -311,13 +312,13 @@ classdef Sensor < MaskedHandle
% Sets multiple Sensor properties at once using MATLAB's inputParser.
%
% Arguments:
- % debug (bool) *[OPTIONAL]*
- % mode (DeviceMode.{Type}) *[OPTIONAL]*
+ % debug (bool): *[OPTIONAL]*
+ % mode (DeviceMode.{Type}): *[OPTIONAL]*
%
% Example:
- % b = EV3(); |br|
- % b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
- % b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient); |br|
+ % b = EV3(); % |br|
+ % b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
+ % b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient); % |br|
% % Instead of: b.sensor1.debug = 'on'; |br|
% % b.sensor1.mode = DeviceMode.Color.Ambient; |br|
%