diff --git a/examples/MotorBraking.m b/examples/MotorBraking.m
deleted file mode 100644
index 47b6f2cb1e999dcef377c0bda4fe43274007cd93..0000000000000000000000000000000000000000
--- a/examples/MotorBraking.m
+++ /dev/null
@@ -1,21 +0,0 @@
-b = EV3('debug', 2);
-b.connect('bt', 'serPort', '/dev/rfcomm0');
-m = b.motorA;
-sl = b.motorB;
-
-m.tachoLimit = 1000;
-m.brakeMode = 'Coast';
-
-counts = [];
-power = [60, 65, 70, 75, 80, 85, 90, 95, 100];
-
-for i=1:length(power)
- m.resetTachoCount;
- m.reset;
- m.power = power(i);
- m.syncedStart(sl);
- m.waitFor();
- counts = [counts, m.tachoCount];
- b.beep;
- b.debug = false;
-end
\ No newline at end of file
diff --git a/examples/distancePlotting.m b/examples/distancePlotting.m
index 416e8a5c4e5bc441cd3e8f7a778ba84b3106e248..c0c2c3c731ce23f2ae956f1217b344fef903b17e 100644
--- a/examples/distancePlotting.m
+++ b/examples/distancePlotting.m
@@ -1,3 +1,12 @@
+% This script has two purposes:
+% * Plotting distance to ultrasonic sensor (for fun and as an example)
+% * Analyse runtime of sensor readings (comment out marked part of code to get useful
+% results)
+% Necessary:
+% * USB-connection
+% * UltraSonic-Sensor at Port 4
+clear all
+
b = EV3('debug', 0);
b.connect('usb');
@@ -15,8 +24,11 @@ hold on;
while toc < 20
readings = [readings, s.value];
time = [time, toc];
-% plot(time, readings)
-% drawnow
+
+ %% Plotting
+ % Should be commented out if you analyse latency of sensor readings
+ plot(time, readings)
+ drawnow
end
hold off;
@@ -24,6 +36,8 @@ fprintf('\nSensor readings per sec: %f\n', length(readings)/time(length(time)));
b.disconnect();
+clear all
+
%% Results
% Bluetooth
% debug=2, sensor-typ-kontrolle an: 7.5 Readings/sec % worst case
diff --git a/examples/testProfiling.m b/examples/testProfiling.m
new file mode 100644
index 0000000000000000000000000000000000000000..0f806055d45870d98f4731f4fd14dbf9e88079a3
--- /dev/null
+++ b/examples/testProfiling.m
@@ -0,0 +1,24 @@
+% In order to generally examine the runtime-distribution, start this script
+% with the 'Run and Time'-Button in MATLAB.
+% Necessary:
+% * USB-connection
+% * Motor at Port A
+clear all
+
+b = EV3();
+b.connect('usb');
+ma = b.motorA;
+ma.setProperties('Power', 50, 'LimitValue', 2000);
+
+t = 0;
+flag = 0;
+tacho = 0;
+
+tic;
+ma.start();
+while(toc < 7)
+ flag = [flag, ma.isRunning];
+ tacho = [tacho, ma.tachoCount];
+end
+
+clear all
\ No newline at end of file
diff --git a/examples/testToolbox.m b/examples/testToolbox.m
deleted file mode 100644
index a04346e0a81a98aa306ccd4318fc04d05b0225b8..0000000000000000000000000000000000000000
--- a/examples/testToolbox.m
+++ /dev/null
@@ -1,42 +0,0 @@
-b = EV3();
-b.connect('bt', 'serPort', '/dev/rfcomm0');
-b.sensor3.mode = DeviceMode.Color.Col;
-b.sensor4.mode = DeviceMode.UltraSonic.DistCM;
-tic;
-t = 0;
-
-b.motorA.setProperties('power', 50, 'speedRegulation', 'on', 'smoothStart', 10, 'limitMode', ...
- 'Time', 'limitValue', 3000);
-b.motorA.start();
-
-pause(0.5);
-while b.motorA.isRunning()
- b.sensor3.value
- b.sensor4.value
- b.motorA.tachoCount
-end
-
-b.motorB.power = 50;
-b.motorB.limitValue = 4*360;
-b.motorB.start();
-b.motorB.waitFor();
-b.beep();
-
-b.motorA.speedRegulation = false;
-pause(1);
-b.motorA.syncedStart(b.motorB, 'turnRatio', 200);
-b.motorA.waitFor();
-
-for i=1:10
- b.sensor3.value
- b.motorA.tachoCount
- b.sensor3.reset
- b.motorA.tachoCount
-end
-
-b.beep
-b.beep
-
-
-b.disconnect
-b.delete
\ No newline at end of file
diff --git a/source/Command.m b/source/Command.m
index 94d1fb069b66cdd97ff1192fb619017e3f959890..663f528c7c10f4dcc57a2391ad23a5fa8f956348 100755
--- a/source/Command.m
+++ b/source/Command.m
@@ -2202,7 +2202,7 @@ classdef Command < handle
cmd.GV0(speed);
end
- function opOUTPUT_TEST(cmd,layer,nos,value)
+ function opOUTPUT_TEST(cmd,layer,nos,busy)
% Command.opOUTPUT_TEST Add a opOUTPUT_TEST
%
% Command.opOUTPUT_READ(layer,nos) adds a opOUTPUT_TEST opcode
@@ -2222,7 +2222,7 @@ classdef Command < handle
cmd.addDirectCommand(ByteCodes.OutputTest);
cmd.LC0(layer);
cmd.LC0(nos);
- cmd.GV0(value);
+ cmd.GV0(busy);
end
function opOUTPUT_READY(cmd,layer,nos)
diff --git a/source/CommunicationInterface.m b/source/CommunicationInterface.m
index 18bca6c83d0eca00caf62e2d609c66f9743454fb..1eb982a4049d45f501632327142a09fbe7f8413f 100755
--- a/source/CommunicationInterface.m
+++ b/source/CommunicationInterface.m
@@ -307,8 +307,8 @@ classdef CommunicationInterface < handle
corrupt = 1;
if ~isempty(strfind(ME.identifier, 'CorruptPacket'))
% Read packet was corrupt - retry
- id = [ID(), ':', 'CorruptPacket'];
- warning(id, 'Read corrupt packet. Retrying...');
+ %id = [ID(), ':', 'CorruptPacket'];
+ %warning(id, 'Read corrupt packet. Retrying...');
if brick.debug
fprintf('received (corrupt) (hex): [ ');
for ii=1:length(rmsg)
diff --git a/source/Motor.m b/source/Motor.m
index 592ec28b178671362e47274753a822df5047b67b..5e2431415a3bf74f3e3d21f7c009ca315949da53 100755
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -94,16 +94,17 @@ classdef Motor < MaskedHandle & dynamicprops
% to be sent, is saved (hidden from the user).
brakeMode_;
- %% Miscallenous flags
-
- connectedToBrick = false; % Connection to physical Brick?
- sendPowerOnNextStart = false; % Indicates whether current power parameter should be sent
- % to the Brick right before starting it next time
- sendPowerOnSet = false; % Indicates whether power parameter should be sent to the Brick
- % immediately after setting it
- limitSetToZero = false; % Indicates whether limitValue has been set to zero
- % (workaround for a bug, see motor.start, Note 2)
+ %% Flags
+
+ connectedToBrick = false; % Connection to physical Brick?
init = true; % Indicates 'init-phase' (True as long as constructor is running)
+ sendPowerOnSet = false; % If true, OUTPUT_POWER is sent when setting power
+
+ % Bitfield representing which opCodes should be sent on Motor.start()
+ % The corresponding opCodes for each bit are (in Big Endian):
+ % * 1st Bit: OUTPUT_POWER (sets power on physical Brick)
+ % * 2nd Bit: OUTPUT_STOP (stops Brick; workaround for a bug, see motor.start, Note 2)
+ sendOnStart = 0;
end
properties (Hidden, Dependent, Access = 'private') % Hidden, dependent properties for internal use only
@@ -112,6 +113,8 @@ classdef Motor < MaskedHandle & dynamicprops
isSynced; % Is motor running in synced mode?
physicalMotorConnected; % Physical motor connected to this port?
+
+ internalTachoCount; % Internal tachocount used for positioning the motor with tacholimit
end
methods % Standard methods
@@ -150,13 +153,12 @@ classdef Motor < MaskedHandle & dynamicprops
% Check connection and if motor is already running
if ~motor.connectedToBrick
- error(['Motor::start: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ error('Motor::start: Motor-Object not connected to comm handle.');
elseif ~motor.physicalMotorConnected
error('Motor::start: No physical motor connected to Port %s',...
port2str('Motor', motor.port));
elseif motor.isRunning
- error('Motor::start: Motor is already runnning!');
+ error('Motor::start: Motor is already running!');
end
% If motor has been started synced with another, and it stopped 'itself' (when
@@ -164,26 +166,34 @@ classdef Motor < MaskedHandle & dynamicprops
% would do so)
if motor.isSynced
delete(motor.findprop('syncCache'));
+ motor.internalReset(); % Better safe than sorry
end
- % Trigger warning if power = 0 (as it still sets the motor internally in a
- % 'running' mode
-% if motor.power == 0
-% warning('Motor::start: Motor starting with power=0.');
-% end
-
- if motor.brakeMode_ == BrakeMode.Coast
- motor.reset();
+ % 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.internalReset();
end
- % Call right function in commInterface depending on limitValue and limitMode
+ % Call appropriate function in commInterface depending on limitValue and limitMode
if motor.limitValue==0
- if motor.sendPowerOnNextStart
- if motor.limitSetToZero
- motor.stop();
- motor.limitSetToZero = false;
+ if motor.sendOnStart > 0
+ % If stop-flag is set: call stop() and reset flag
+ if bitget(motor.sendOnStart, SendOnStart.Stop)
+ motor.stop();
+ motor.sendOnStart = bitset(motor.sendOnStart, SendOnStart.Stop, 0);
end
- motor.setPower(motor.power);
+
+ % If power-flag is set: call setPower() and reset flag if successful
+ if bitget(motor.sendOnStart, SendOnStart.Power)
+ success = motor.setPower(motor.power);
+ if ~success
+ motor.sendOnStart = bitset(motor.sendOnStart, SendOnStart.Power, 1);
+ else
+ motor.sendOnStart = bitset(motor.sendOnStart, SendOnStart.Power, 0);
+ end
+ end
+
end
motor.commInterface.outputStart(0, motor.port);
@@ -246,8 +256,7 @@ classdef Motor < MaskedHandle & dynamicprops
%stop Stops the motor
if ~motor.connectedToBrick
- error(['Motor::stop: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ error('Motor::stop: Motor-Object not connected to comm handle.');
elseif ~motor.physicalMotorConnected
error('Motor::stop: No physical motor connected to Port %s',...
port2str('Motor', motor.port));
@@ -322,8 +331,7 @@ classdef Motor < MaskedHandle & dynamicprops
% Check connection and motor parameter
if ~motor.connectedToBrick || ~syncMotor.connectedToBrick
- error(['Motor::syncedStart: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ error('Motor::syncedStart: Motor-Object not connected to comm handle.');
elseif ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
error('Motor::syncedStart: No physical motor connected to Port %s or %s.',...
port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
@@ -337,7 +345,21 @@ classdef Motor < MaskedHandle & dynamicprops
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.internalReset();
+ end
+
+ if motor.sendOnStart > 0
+ % If stop-flag is set: call stop() and reset flag
+ if bitget(motor.sendOnStart, SendOnStart.Stop)
+ motor.stop();
+ motor.sendOnStart = bitset(motor.sendOnStart, SendOnStart.Stop, 0);
+ end
+ end
+
% Cache old values to make it possible to reset them on stopSynced
% Note: the existence of 'syncCache' is also used to determine whether motor is
% running synchronized or not, see get.isSynced()
@@ -397,8 +419,7 @@ classdef Motor < MaskedHandle & dynamicprops
syncMotor = motor.syncCache.slave;
if ~motor.connectedToBrick || ~syncMotor.connectedToBrick
- error(['Motor::syncedStop: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ error('Motor::syncedStop: Motor-Object not connected to comm handle.');
elseif ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
error('Motor::syncedStop: No physical motor connected to either Port %s or %s.',...
port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
@@ -406,18 +427,24 @@ classdef Motor < MaskedHandle & dynamicprops
% Retrieve other values from cache and delete it
motor.sendPowerOnSet = motor.syncCache.master_oldSendPowerOnSet;
- syncMotor.sendPowerOnSet = motor.syncCache.slave_oldSendPowerOnSet;
+ %syncMotor.sendPowerOnSet = motor.syncCache.slave_oldSendPowerOnSet;
+ syncMotor.sendPowerOnSet = motor.syncCache.master_oldSendPowerOnSet;
delete(motor.findprop('syncCache'));
% Synced stopping
motor.commInterface.outputStop(0, motor.port+syncMotor.port, motor.brakeMode_);
% On next start, both motors have to send power-opcode again
- motor.sendPowerOnNextStart = true;
- syncMotor.sendPowerOnNextStart = true;
+ if motor.sendPowerOnSet
+ motor.sendOnStart = bitset(motor.sendOnStart, SendOnStart.Power, 1);
+ end
+ if syncMotor.sendPowerOnSet
+ syncMotor.sendOnStart = bitset(syncMotor.sendOnStart, SendOnStart.Power, 1);
+ end
+
if motor.debug
- fprintf('(DEBUG) Motor::stop: Called outputStop on Ports %s and %s\n.', ...
+ fprintf('(DEBUG) Motor::syncedStop: Called outputStop on Ports %s and %s.\n', ...
port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
end
end
@@ -436,17 +463,16 @@ classdef Motor < MaskedHandle & dynamicprops
% outputReady returns in less than a second, another while-loop iterates until
% the motor has stopped, this time using motor.isRunning() (this only works as
% long as not both OutputTest and OutputReady are buggy).
- % * Workaround: Poll isRunning (which itself return (speed>0)) until it is false
+ % * (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
%
if ~motor.connectedToBrick
- error(['Motor::waitFor: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ error('Motor::waitFor: Motor-Object not connected to comm handle.');
end
- pause(0.1);
+ %pause(0.1);
while motor.isRunning
pause(0.03);
end
@@ -481,37 +507,39 @@ classdef Motor < MaskedHandle & dynamicprops
% end
end
- function reset(motor)
- %reset Resets internal tacho count
- % The internal tacho count is used for positioning the motor. For example, when the
+ function internalReset(motor)
+ % internalReset 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.
+ % physically change the motor's position or it coasted into a stop. If the motor's
+ % brakemode is 'Coast', this function is called automatically.
%
% See also MOTOR.RESETTACHOCOUNT
%
if ~motor.connectedToBrick
- error(['Motor::reset: Motor-Object not connected to brick handle.',...
+ error(['Motor::internalReset: Motor-Object not connected to brick handle.',...
'You have to call motor.connect(brick) first!']);
elseif ~motor.physicalMotorConnected
- error('Motor::reset: No physical motor connected to Port %s',...
+ error('Motor::internalReset: No physical motor connected to Port %s',...
port2str('Motor', motor.port));
end
motor.commInterface.outputReset(0, motor.port);
if motor.debug
- fprintf('(DEBUG) Motor::reset: Called outputReset on Port %s\n',...
+ fprintf('(DEBUG) Motor::internalReset: Called outputReset on Port %s\n',...
port2str('Motor', motor.port));
end
end
function resetTachoCount(motor)
-
if ~motor.connectedToBrick
- error(['Motor::resetTachoCount: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ error('Motor::resetTachoCount: Motor-Object not connected to comm handle.');
elseif ~motor.physicalMotorConnected
error('Motor::resetTachoCount: No physical motor connected to Port %s',...
port2str('Motor', motor.port));
@@ -525,6 +553,28 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
+ function setBrake(motor, brake)
+ %setBrake Apply or release brake of motor
+ %
+ % Arguments
+ % * brake (0/1/off/on/'false'/'true')
+
+ if ~isBool(brake)
+ error('Motor::setBrake: Given parameter is not a valid bool.');
+ else
+ brake = str2bool(brake);
+ end
+
+
+ if brake
+ motor.applyBrake();
+ else
+ motor.releaseBrake();
+ end
+
+ motor.sendOnStart = SendOnStart.Power + SendOnStart.Stop;
+ end
+
%% Setter
function set.power(motor, power)
if ~isnumeric(power)
@@ -535,22 +585,37 @@ classdef Motor < MaskedHandle & dynamicprops
end
motor.power = power; % Set power parameter.
- motor.sendPowerOnNextStart = true; % Indicate that virtual and physical brick have different power
- % parameters right now. See 'setPower' for more info.
- if motor.sendPowerOnSet && motor.connectedToBrick && ...
- motor.physicalMotorConnected
- motor.setPower(power); % Update physical brick's power parameter.
+ if motor.sendPowerOnSet
+ success = motor.setPower(power);
+ if ~success
+ motor.sendOnStart = bitset(motor.sendOnStart, SendOnStart.Power, 1);
+ else
+ motor.sendOnStart = bitset(motor.sendOnStart, SendOnStart.Power, 0);
+ end
end
end
function set.speedRegulation(motor, speedRegulation)
if ~isBool(speedRegulation)
error('Motor::set.speedRegulation: Given parameter is not a bool.');
+% elseif motor.connectedToBrick && motor.physicalMotorConnected
+% pause(0.5);
+% if motor.currentSpeed ~= 0
+% error(['Motor::set.speedRegulation: Cannot change speed regulation while ', ...
+% 'is motor is moving.']);
+% end
end
- motor.speedRegulation = str2bool(speedRegulation);
- motor.sendPowerOnNextStart = true;
+ speedRegulation = str2bool(speedRegulation);
+
+ if ~isempty(motor.speedRegulation) && (speedRegulation ~= motor.speedRegulation)
+ if motor.sendPowerOnSet
+ motor.sendOnStart = bitset(motor.sendOnStart, SendOnStart.Power, 1);
+ end
+ end
+
+ motor.speedRegulation = speedRegulation;
end
function set.smoothStart(motor, steps)
@@ -561,11 +626,6 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::set.smoothStart: Smooth start steps are out of bounds.');
end
-% if ~isempty(motor.limitValue) && steps>motor.limitValue
-% warning(['Motor::set.smoothStart: Smooth start steps are greater than ',...
-% 'limitValue.']);
-% end
-
motor.smoothStart = steps;
end
@@ -577,33 +637,26 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::set.smoothStop: Smooth stop steps are out of bounds.');
end
-% if ~isempty(motor.limitValue) && steps>motor.limitValue
-% error(['Motor::set.smoothStop: Smooth stop steps are greater than ',...
-% 'limitValue.']);
-% end
-
motor.smoothStop = steps;
end
function set.brakeMode(motor, brakeMode)
- validModes = {'Coast', 'Brake'};
- if ~motor.init
- oldMode = motor.brakeMode_;
- end
-
- if ~ischar(brakeMode) || ~ismember(brakeMode, validModes)
+ if ~ischar(brakeMode) || ...
+ (~strcmpi(brakeMode, 'coast') && ~strcmpi(brakeMode, 'brake'))
error('Motor::set.brakeMode: Given parameter is not a valid brake mode.');
end
- motor.brakeMode = brakeMode;
- motor.brakeMode_ = str2brake(brakeMode);
-
-
- if ~motor.init && motor.brakeMode_~=oldMode && ...
+ % If new brakeMode is 'Brake': reset internal tachocount once
+ % Note: if new brakeMode is 'Coast', internal tachocount is always reset
+ % right before starting, so it's not necessary here
+ if ~motor.init && strcmpi(brakeMode,'Brake') && ...
motor.connectedToBrick && motor.physicalMotorConnected
- motor.reset();
-% motor.setBrakeMode();
+ motor.internalReset();
end
+
+
+ motor.brakeMode = brakeMode;
+ motor.brakeMode_ = str2brake(brakeMode);
end
function set.limitMode(motor, limitMode)
@@ -621,16 +674,16 @@ classdef Motor < MaskedHandle & dynamicprops
elseif limitValue<0
warning('Motor::set.limitValue: limitValue has to be positive!');
error('Motor::set.limitValue: Given limitValue is out of bounds.');
- elseif any(motor.limitValue)
- if limitValue==0 && motor.limitValue~=0
- motor.sendPowerOnNextStart = true;
- motor.limitSetToZero = true;
- end
- end
-
+ end
+
if limitValue == 0
+ motor.sendOnStart = SendOnStart.Power;
+ if ~isempty(motor.limitValue) && motor.limitValue > 0
+ motor.sendOnStart = motor.sendOnStart + SendOnStart.Stop;
+ end
motor.sendPowerOnSet = true;
else
+ motor.sendOnStart = 0;
motor.sendPowerOnSet = false;
end
@@ -737,9 +790,9 @@ classdef Motor < MaskedHandle & dynamicprops
motor.smoothStart = p.Results.smoothStart;
motor.smoothStop = p.Results.smoothStop;
- if motor.limitValue == 0
- motor.sendPowerOnSet = true;
- end
+% if motor.limitValue == 0
+% motor.sendPowerOnSet = true;
+% end
end
%% Getter
@@ -763,6 +816,18 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
+ function cnt = get.internalTachoCount(motor)
+ cnt = 0;
+ if motor.connectedToBrick
+ cnt = motor.getInternalTachoCount();
+ if isnan(cnt)
+ warning('Motor::get.internalTachoCount: Could not detect motor at port %s.', ...
+ port2str('Motor', motor.port));
+ cnt = 0;
+ end
+ end
+ end
+
function speed = get.currentSpeed(motor)
speed = 0;
if motor.connectedToBrick
@@ -776,7 +841,10 @@ classdef Motor < MaskedHandle & dynamicprops
end
function running = get.isRunning(motor)
- running = (motor.currentSpeed~=0);
+ running = 0;
+ if motor.connectedToBrick
+ running = motor.getBusyFlag();
+ end
end
function synced = get.isSynced(motor)
@@ -802,8 +870,8 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
- methods (Access = 'private') % Private brick functions that are wrapped by dependent params
- function setPower(motor, power)
+ methods (Access = 'private') % Private functions that directly interact with commLayer
+ function success = setPower(motor, power)
%setPower Sets given power value on the physical Brick.
%
% Notes:
@@ -813,9 +881,10 @@ classdef Motor < MaskedHandle & dynamicprops
% with the new value instantly. However, this sometimes leads to unexpected behaviour.
% Therefore, if motor is running with a limit, setPower aborts with a warning.
%
- if ~motor.connectedToBrick
- error(['Motor::getTachoCount: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ if ~motor.connectedToBrick || ~motor.physicalMotorConnected
+% error('Motor::getTachoCount: Motor-Object not connected to comm handle.');
+ success = false;
+ return;
end
% assert(motor.physicalMotorConnected==true);
@@ -834,13 +903,14 @@ classdef Motor < MaskedHandle & dynamicprops
fprintf('(DEBUG) Motor::setPower: Called outputPower on Port %s\n', port2str('Motor', motor.port));
end
end
- motor.sendPowerOnNextStart = false;
- end
+ %motor.sendPowerOnNextStart = false;
+ success = true;
+ return;
+ end
function setMode(motor, mode) %% DEPRECATED
if ~motor.connectedToBrick
- error(['Motor::getTachoCount: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ 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));
@@ -857,8 +927,7 @@ classdef Motor < MaskedHandle & dynamicprops
function [type,mode] = getTypeMode(motor)
if ~motor.connectedToBrick
- error(['Motor::getTypeMode: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ error('Motor::getTypeMode: Motor-Object not connected to comm handle.');
end
[typeNo,modeNo] = motor.commInterface.inputDeviceGetTypeMode(0, motor.portInput);
@@ -873,8 +942,7 @@ classdef Motor < MaskedHandle & dynamicprops
function status = getStatus(motor)
if ~motor.connectedToBrick
- error(['Motor::getStatus: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ error('Motor::getStatus: Motor-Object not connected to comm handle.');
end
statusNo = motor.commInterface.inputDeviceGetConnection(0, motor.portInput);
@@ -888,8 +956,7 @@ classdef Motor < MaskedHandle & dynamicprops
function cnt = getTachoCount(motor)
if ~motor.connectedToBrick
- error(['Motor::getTachoCount: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ error('Motor::getTachoCount: Motor-Object not connected to comm handle.');
end
cnt = motor.commInterface.outputGetCount(0, motor.portNo);
@@ -898,10 +965,16 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
+ function cnt = getInternalTachoCount(motor)
+ [~, cnt] = motor.commInterface.outputRead(0, motor.portNo);
+ if motor.debug
+ fprintf('(DEBUG) Motor::getInternalTachoCount: Called outputRead on Port %s\n', port2str('Motor', motor.port));
+ end
+ end
+
function speed = getSpeed(motor)
if ~motor.connectedToBrick
- error(['Motor::getSpeed: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
+ error('Motor::getSpeed: Motor-Object not connected to comm handle.');
end
speed = motor.commInterface.inputReadSI(0, motor.portInput, DeviceMode.Motor.Speed);
@@ -911,26 +984,71 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
- function running = getMotorStatus(motor)
- %getMotorStatus Returns whether motor is running (WITH TACHOLIMIT) or not.
+ function busy = getBusyFlag(motor)
+ %getMotorStatus Returns whether motor is busy or not.
%
% Notes:
% * This *mostly* works. Sometimes this falsely returns 0 if isRunning() gets
% called immediately after starting the motor.
+ % * Busy is set to true if motor is running with tacholimit or synced
%
if ~motor.connectedToBrick
- error(['Motor::isRunning: Motor-Object not connected to comm handle.',...
- 'You have to call motor.connect(commInterface) first!']);
- elseif ~motor.tachoLimit
- warning(['Motor::isRunning: Motor has no tacho limit. ' ,...
- 'Can''t reliably determine whether it is running or not.']);
+ error('Motor::getBusyFlag: Motor-Object not connected to comm handle.');
end
- running = motor.commInterface.outputTest(0, motor.port);
+ busy = motor.commInterface.outputTest(0, motor.port);
+
+ if motor.debug
+ fprintf('(DEBUG) Motor::getBusyFlag: Called outputTest on Port %s\n', port2str('Motor', motor.port));
+ end
+ end
+
+ function applyBrake(motor)
+ if ~motor.connectedToBrick
+ error('Motor::applyBrake: Motor-Object not connected to comm handle.');
+ elseif ~motor.physicalMotorConnected
+ error('Motor::applyBrake: No physical motor connected to Port %s',...
+ port2str('Motor', motor.port));
+ elseif motor.currentSpeed~=0
+ error('Motor::applyBrake: Can''t apply brake because Motor is moving');
+ end
+
+ if motor.speedRegulation
+ motor.commInterface.outputPower(0, motor.port, 0);
+ else
+ motor.commInterface.outputSpeed(0, motor.port, 0);
+ end
+ motor.commInterface.outputStart(0, motor.port);
+ motor.commInterface.outputStop(0, motor.port, BrakeMode.Brake);
+
+ if motor.debug
+ fprintf(['(DEBUG) Motor::applyBrake: Called outputPower, outputStart and' ,...
+ 'outputStop on Port %s\n'], port2str('Motor', motor.port));
+ end
+ end
+
+ function releaseBrake(motor)
+ if ~motor.connectedToBrick
+ error('Motor::releaseBrake: Motor-Object not connected to comm handle.');
+ elseif ~motor.physicalMotorConnected
+ error('Motor::releaseBrake: No physical motor connected to Port %s',...
+ port2str('Motor', motor.port));
+ elseif motor.currentSpeed~=0
+ error('Motor::releaseBrake: Can''t releaseBrake brake because Motor is moving');
+ end
+
+ if motor.speedRegulation
+ motor.commInterface.outputPower(0, motor.port, 0);
+ else
+ motor.commInterface.outputSpeed(0, motor.port, 0);
+ end
+ motor.commInterface.outputStart(0, motor.port);
+ motor.commInterface.outputStop(0, motor.port, BrakeMode.Coast);
if motor.debug
- fprintf('(DEBUG) Motor::isRunning: Called outputReady on Port %s\n', port2str('Motor', motor.port));
+ fprintf(['(DEBUG) Motor::releaseBrake: Called outputPower, outputStart and' ,...
+ 'outputStop on Port %s\n'], port2str('Motor', motor.port));
end
end
end
@@ -961,8 +1079,7 @@ classdef Motor < MaskedHandle & dynamicprops
'comm handle is invalid. Deleting invalid handle and ' ,...
'resetting Motor.connectedToBrick now...']);
- motor.commInterface = 0;
- motor.connectedToBrick = false;
+ motor.disconnect();
error('Motor::connect: Disconnected due to internal error.');
end
diff --git a/source/SendOnStart.m b/source/SendOnStart.m
new file mode 100644
index 0000000000000000000000000000000000000000..ee7423d17b2a98083c73005057e111db487f2197
--- /dev/null
+++ b/source/SendOnStart.m
@@ -0,0 +1,7 @@
+classdef SendOnStart < uint8
+ enumeration
+ Power (1)
+ Stop (2)
+ end
+end
+
diff --git a/source/Sensor.m b/source/Sensor.m
index 78d9ce6080bd2b7ad2bc91620b8e16abafa56dd4..dc12c91ee81442ee867bb17af76365a0649ed79e 100755
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -72,15 +72,14 @@ classdef Sensor < MaskedHandle
%reset Resets value on sensor
% Note: This clears ALL the sensors right now, no other Op-Code available... :(
if ~sensor.connectedToBrick
- error(['Sensor::reset: Sensor-Object not connected to comm handle.',...
- 'You have to call sensor.connect(commInterface) first!']);
+ error('Sensor::reset: Sensor-Object not connected to comm handle.');
elseif ~sensor.physicalSensorConnected
error('Sensor::reset: No physical sensor connected to Port %d.',...
sensor.port+1);
end
- warning(['Sensor::reset: Current version of reset resets ALL devices, that is, ',...
- 'all motor tacho counts and all other sensor counters!']);
+% warning(['Sensor::reset: Current version of reset resets ALL devices, that is, ',...
+% 'all motor tacho counts and all other sensor counters!']);
sensor.commInterface.inputDeviceClrAll(0);
if sensor.debug
@@ -225,8 +224,7 @@ classdef Sensor < MaskedHandle
methods (Access = 'private') % Private brick functions that are wrapped by dependent params
function setMode(sensor, mode)
if ~sensor.connectedToBrick
- error(['Sensor::getTachoCount: Sensor-Object not connected to comm handle.',...
- 'You have to call sensor.connect(commInterface) first!']);
+ error('Sensor::getTachoCount: Sensor-Object not connected to comm handle.');
elseif ~sensor.physicalSensorConnected
error('Sensor::getTachoCount: No physical sensor connected to Port %d',...
sensor.port+1);
@@ -261,8 +259,7 @@ classdef Sensor < MaskedHandle
end
if ~sensor.connectedToBrick
- error(['Sensor::getValue: Sensor-Object not connected to comm handle.',...
- 'You have to call sensor.connect(commInterface) first!']);
+ error('Sensor::getValue: Sensor-Object not connected to comm handle.');
end
if defaultMode ~= -1
@@ -294,8 +291,7 @@ classdef Sensor < MaskedHandle
function status = getStatus(sensor)
if ~sensor.connectedToBrick
- error(['Sensor::getStatus: Sensor-Object not connected to comm handle.',...
- 'You have to call sensor.connect(commInterface) first!']);
+ error('Sensor::getStatus: Sensor-Object not connected to comm handle.');
end
statusNo = sensor.commInterface.inputDeviceGetConnection(0, sensor.port);
@@ -309,8 +305,7 @@ classdef Sensor < MaskedHandle
function [type,mode] = getTypeMode(sensor)
if ~sensor.connectedToBrick
- error(['Sensor::getTypeMode: Sensor-Object not connected to comm handle.',...
- 'You have to call sensor.connect(commInterface) first!']);
+ error('Sensor::getTypeMode: Sensor-Object not connected to comm handle.');
end
[typeNo,modeNo] = sensor.commInterface.inputDeviceGetTypeMode(0, sensor.port);
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
index 90a3e51ccbff4545bd74a1ea5ddc5410f50ecd8b..02946f677e153d650af1a0195670a0e426e59df0 100755
--- a/source/btBrickIO.m
+++ b/source/btBrickIO.m
@@ -180,7 +180,7 @@ classdef btBrickIO < BrickIO
id = [ID(), ':', 'UnknownError'];
newException = MException(id, msg);
newException = addCause(newException, ME);
- throw(newException);b.bee
+ throw(newException);
end
end