Fix some typos and comments

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)

source/Motor.m

@@ -96,14 +96,14 @@ classdef Motor < MaskedHandle & dynamicprops
         
         %% Miscallenous flags
         
-        connectedToBrick = false;  % Connection to physical Brick?
+        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)
-        init = true;  % Indicates 'init-phase' (True as long as constructor is running)
+        init = true;             % Indicates 'init-phase' (True as long as constructor is running)
     end
     
     properties (Hidden, Dependent, Access = 'private')  % Hidden, dependent properties for internal use only
@@ -175,6 +175,10 @@ classdef Motor < MaskedHandle & dynamicprops
             if motor.brakeMode_ == BrakeMode.Coast
                 motor.reset();
             end
+            
+%             if motor.internalTachoCount ~= 0
+%                 motor.reset();
+%             end
 
             % Call right function in commInterface depending on limitValue and limitMode
             if motor.limitValue==0
@@ -440,16 +444,16 @@ classdef Motor < MaskedHandle & dynamicprops
             %                -> 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!']);
-            end
-            
-            pause(0.1);
-            while motor.isRunning
-                 pause(0.03);
-            end
+            motor.commInterface.outputReady(0, motor.port);
+% %             if ~motor.connectedToBrick
+% %                 error(['Motor::waitFor: Motor-Object not connected to comm handle.',...
+% %                        'You have to call motor.connect(commInterface) first!']);
+% %             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.']);
@@ -561,11 +565,6 @@ 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
         
@@ -577,11 +576,6 @@ 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
     	
@@ -777,6 +771,7 @@ classdef Motor < MaskedHandle & dynamicprops
         
         function running = get.isRunning(motor)
             running = (motor.currentSpeed~=0);
+            %running = motor.commInterface.outputTest(0, motor.port);
         end
         
         function synced = get.isSynced(motor)
@@ -961,8 +956,7 @@ 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

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