diff --git a/source/Motor.m b/source/Motor.m
index a0ed2715c26aa0fb218c7bd8aae00e55f314f6af..c70b203160309ab6312880dbd798925231f36d5c 100644
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -199,10 +199,7 @@ classdef Motor < MaskedHandle & dynamicprops
function start(motor)
% Starts the motor.
- if ~motor.physicalMotorConnected
- error('Could not detect motor at Port %s',...
- port2str('Motor', motor.port));
- elseif motor.isRunning
+ if motor.isRunning
error('Motor is already running!');
end
@@ -270,7 +267,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
- motor.handleCommand(@outputStart, 0, motor.port);
+ motor.handleCommand(@outputStart, true, 0, motor.port);
motor.state.startedNotBusy = true;
else
@@ -282,21 +279,21 @@ classdef Motor < MaskedHandle & dynamicprops
if strcmpi(motor.limitMode, 'Tacho')
if motor.speedRegulation
- motor.handleCommand(@outputStepSpeed, 0, motor.port, motor.power,...
+ motor.handleCommand(@outputStepSpeed, true, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
else
- motor.handleCommand(@outputStepPower, 0, motor.port, motor.power,...
+ motor.handleCommand(@outputStepPower, true, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
end
elseif strcmpi(motor.limitMode, 'Time')
if motor.speedRegulation
- motor.handleCommand(@outputTimeSpeed, 0, motor.port, motor.power,...
+ motor.handleCommand(@outputTimeSpeed, true, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
else
- motor.handleCommand(@outputTimePower, 0, motor.port, motor.power,...
+ motor.handleCommand(@outputTimePower, true, 0, motor.port, motor.power,...
motor.smoothStart, limit, motor.smoothStop,...
motor.brakeMode_);
end
@@ -314,15 +311,12 @@ classdef Motor < MaskedHandle & dynamicprops
%
% See also MOTOR.START, MOTOR.SYNCEDSTOP / :meth:`start`, :meth:`syncedStop`
- if ~motor.physicalMotorConnected
- error('Could not detect motor at Port %s',...
- port2str('Motor', motor.port));
- elseif motor.isSynced && motor.isRunning
+ if motor.isSynced && motor.isRunning
motor.syncedStop();
return;
end
- motor.handleCommand(@outputStop, 0, motor.port, motor.brakeMode_);
+ motor.handleCommand(@outputStop, false, 0, motor.port, motor.brakeMode_);
motor.state.startedNotBusy = false;
end
@@ -389,10 +383,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
% Check connection and motor parameter
- if ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
- error('Could not detect motor at Port %s or %s.',...
- port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
- elseif motor.speedRegulation
+ if motor.speedRegulation
error(['Cannot run motors synchronized if ',...
'speedRegulation is turned on.']);
elseif motor.isRunning || syncMotor.isRunning
@@ -441,11 +432,11 @@ classdef Motor < MaskedHandle & dynamicprops
if strcmpi(motor.limitMode, 'Tacho')
- motor.handleCommand(@outputStepSync, 0, motor.port+syncMotor.port, ...
+ motor.handleCommand(@outputStepSync, true, 0, motor.port+syncMotor.port, ...
motor.power, turnRatio, ...
motor.limitValue, motor.brakeMode_);
elseif strcmpi(motor.limitMode, 'Time')
- motor.handleCommand(@outputTimeSync, 0, motor.port+syncMotor.port, ...
+ motor.handleCommand(@outputTimeSync, true, 0, motor.port+syncMotor.port, ...
motor.power, turnRatio, ...
motor.limitValue, motor.brakeMode_);
end
@@ -475,17 +466,12 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
- if ~motor.physicalMotorConnected || ~syncMotor.physicalMotorConnected
- error('Could not detect motor at Port %s or %s.',...
- port2str('Motor', motor.port), port2str('Motor', syncMotor.port));
- end
-
% Reset state
motor.applyState();
syncMotor.applyState();
% Synced stopping
- motor.handleCommand(@outputStop, 0, motor.port+syncMotor.port, motor.brakeMode_);
+ motor.handleCommand(@outputStop, false, 0, motor.port+syncMotor.port, motor.brakeMode_);
% On next start, both motors have to send power-opcode again
if motor.state.sendPowerOnSet
@@ -532,12 +518,7 @@ classdef Motor < MaskedHandle & dynamicprops
%
% See also MOTOR.RESETTACHOCOUNT / :attr:`resetTachoCount`
- if ~motor.physicalMotorConnected
- error('Could not detect motor at Port %s',...
- port2str('Motor', motor.port));
- end
-
- motor.handleCommand(@outputReset, 0, motor.port);
+ motor.handleCommand(@outputReset, false, 0, motor.port);
end
function resetTachoCount(motor)
@@ -545,12 +526,7 @@ classdef Motor < MaskedHandle & dynamicprops
%
% See also MOTOR.TACHOCOUNT / :attr:`tachoCount`
- if ~motor.physicalMotorConnected
- error('Could not detect motor at Port %s',...
- port2str('Motor', motor.port));
- end
-
- motor.handleCommand(@outputClrCount, 0, motor.port);
+ motor.handleCommand(@outputClrCount, false, 0, motor.port);
end
function setBrake(motor, brake)
@@ -671,8 +647,7 @@ classdef Motor < MaskedHandle & dynamicprops
% 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
+ if ~motor.init && strcmpi(brakeMode,'Brake')
motor.internalReset();
end
@@ -869,6 +844,28 @@ classdef Motor < MaskedHandle & dynamicprops
running = motor.state.startedNotBusy || busyFlag;
end
+ function motorType = get.type(motor)
+ motorType = DeviceType.Unknown;
+
+ if motor.connectedToBrick
+ [motorType, ~] = motor.getTypeMode();
+ end
+ end
+
+ function conn = get.physicalMotorConnected(motor)
+% try
+% conn = motor.isPhysicalMotorConnected();
+% catch ME
+% if ~isempty(strfind(ME.identifier, 'NotConnected'))
+% conn = DeviceType.Unknown;
+% else
+% throw(ME);
+% end
+% end
+ currentType = motor.type;
+ conn = (currentType==DeviceType.MediumMotor || currentType==DeviceType.LargeMotor);
+ end
+
function synced = get.isSynced(motor)
synced = motor.isSlave || motor.isMaster;
end
@@ -881,19 +878,6 @@ classdef Motor < MaskedHandle & dynamicprops
isMaster = length(findprop(motor, 'slave'))==1;
end
- function motorType = get.type(motor)
- if motor.connectedToBrick
- [motorType, ~] = motor.getTypeMode();
- else
- motorType = DeviceType.Unknown;
- end
- end
-
- function conn = get.physicalMotorConnected(motor)
- currentType = motor.type;
- conn = (currentType==DeviceType.MediumMotor || currentType==DeviceType.LargeMotor);
- end
-
%% Display
function display(motor)
displayProperties(motor);
@@ -901,7 +885,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
methods (Access = private) % Private functions that directly interact with commLayer
- function varargout = handleCommand(motor, commandHandle, varargin)
+ function varargout = handleCommand(motor, commandHandle, checkDevice, varargin)
% Execute a CommunicationInterface-method given as a handle
%
% As those methods have different, fixed numbers of output arguments, this quantity
@@ -910,7 +894,12 @@ classdef Motor < MaskedHandle & dynamicprops
if ~motor.connectedToBrick
msg = ['Not connected to physical brick. ',...
'You have to call connect(...) on the EV3 object first!'];
- id = [ID(), ':', 'NotConnected'];
+ id = [ID(), ':', 'NoConnection'];
+
+ throw(MException(id, msg));
+ elseif checkDevice && ~motor.physicalMotorConnected
+ msg = ['Could not detect motor at port ', port2str('Motor', motor.port), '.'];
+ id = [ID(), ':', 'NoDevice'];
throw(MException(id, msg));
end
@@ -926,21 +915,20 @@ classdef Motor < MaskedHandle & dynamicprops
try
[varargout{1:nOut}] = commandHandle(motor.commInterface, varargin{:});
catch ME
- %motor.ev3Handle.detectedCommError(ME.identifier, ME.message);
if ~isempty(strfind(ME.identifier, 'CommError'))
warning('Lost connection to the Brick!');
- motor.disconnect();
+% motor.disconnect();
else
- warning('Something went wrong. Trying to reset the connection...');
- motor.disconnect();
- motor.connect();
+ warning('Something went wrong. Try to reset the connection.');
+% motor.disconnect();
+% motor.connect();
end
throw(exception);
end
end
- function success = setPower(motor, power)
+ function success = setPower(motor, power) %% TODO
% Sets given power value on the physical Brick.
%
% Notes:
@@ -959,38 +947,56 @@ classdef Motor < MaskedHandle & dynamicprops
end;
if motor.currentSpeedRegulation
- motor.handleCommand(@outputSpeed, 0, motor.port, power);
+ motor.handleCommand(@outputSpeed, true, 0, motor.port, power);
else
- motor.handleCommand(@outputPower, 0, motor.port, power);
+ motor.handleCommand(@outputPower, true, 0, motor.port, power);
end
success = true;
return;
end
function [type,mode] = getTypeMode(motor)
- [typeNo, modeNo] = motor.handleCommand(@inputDeviceGetTypeMode, 0, motor.portInput);
+% try
+% [typeNo, modeNo] = motor.handleCommand(@inputDeviceGetTypeMode, false, 0, motor.portInput);
+% type = DeviceType(typeNo);
+% mode = DeviceMode(type,modeNo);
+% catch ME
+% if ~isempty(strfind(ME.identifier, 'NotConnected'))
+% type = DeviceType.Unknown;
+% mode = DeviceMode.Default;
+% end
+% end
+ [typeNo, modeNo] = motor.handleCommand(@inputDeviceGetTypeMode, false, 0, motor.portInput);
type = DeviceType(typeNo);
mode = DeviceMode(type,modeNo);
end
function status = getStatus(motor)
- statusNo = motor.handleCommand(@inputDeviceGetConnection, 0, motor.portInput);
+% try
+% statusNo = motor.handleCommand(@inputDeviceGetConnection, false, 0, motor.portInput);
+% status = ConnectionType(statusNo);
+% catch ME
+% if ~isempty(strfind(ME.identifier, 'NotConnected'))
+% status = ConnectionType.Unknown;
+% end
+% end
+ statusNo = motor.handleCommand(@inputDeviceGetConnection, false, 0, motor.portInput);
status = ConnectionType(statusNo);
end
function cnt = getTachoCount(motor)
- cnt = motor.handleCommand(@outputGetCount, 0, motor.portNo);
+ cnt = motor.handleCommand(@outputGetCount, false, 0, motor.portNo);
end
function cnt = getInternalTachoCount(motor)
- [~, cnt] = motor.handleCommand(@outputRead, 0, motor.portNo);
+ [~, cnt] = motor.handleCommand(@outputRead, false, 0, motor.portNo);
end
function speed = getSpeed(motor)
- speed = motor.handleCommand(@inputReadSI, 0, motor.portInput, DeviceMode.Motor.Speed);
+ speed = motor.handleCommand(@inputReadSI, false, 0, motor.portInput, DeviceMode.Motor.Speed);
end
- function busy = getBusyFlag(motor)
+ function busy = getBusyFlag(motor) %% TODO
%getMotorStatus Returns whether motor is busy or not.
%
% Notes:
@@ -998,41 +1004,35 @@ classdef Motor < MaskedHandle & dynamicprops
% called immediately after starting the motor.
% * Busy is set to true if motor is running with tacholimit or synced
%
- busy = motor.handleCommand(@outputTest, 0, motor.port);
+ busy = motor.handleCommand(@outputTest, false, 0, motor.port);
end
function applyBrake(motor)
- if ~motor.physicalMotorConnected
- error('Could not detect motor at Port %s',...
- port2str('Motor', motor.port));
- elseif motor.currentSpeed~=0
+ if motor.currentSpeed~=0
error('Can''t apply brake because Motor is moving');
end
if motor.speedRegulation
- motor.handleCommand(@outputPower, 0, motor.port, 0);
+ motor.handleCommand(@outputPower, true, 0, motor.port, 0);
else
- motor.handleCommand(@outputSpeed, 0, motor.port, 0);
+ motor.handleCommand(@outputSpeed, true, 0, motor.port, 0);
end
- motor.handleCommand(@outputStart, 0, motor.port);
- motor.handleCommand(@outputStop, 0, motor.port, BrakeMode.Brake);
+ motor.handleCommand(@outputStart, false, 0, motor.port);
+ motor.handleCommand(@outputStop, false, 0, motor.port, BrakeMode.Brake);
end
function releaseBrake(motor)
- if ~motor.physicalMotorConnected
- error('Could not detect motor at Port %s',...
- port2str('Motor', motor.port));
- elseif motor.currentSpeed~=0
+ if motor.currentSpeed~=0
error('Can''t release brake because Motor is moving');
end
if motor.speedRegulation
- motor.handleCommand(@outputPower, 0, motor.port, 0);
+ motor.handleCommand(@outputPower, true, 0, motor.port, 0);
else
- motor.handleCommand(@outputSpeed, 0, motor.port, 0);
+ motor.handleCommand(@outputSpeed, true, 0, motor.port, 0);
end
- motor.handleCommand(@outputStart, 0, motor.port);
- motor.handleCommand(@outputStop, 0, motor.port, BrakeMode.Coast);
+ motor.handleCommand(@outputStart, false, 0, motor.port);
+ motor.handleCommand(@outputStop, false, 0, motor.port, BrakeMode.Coast);
end
end
diff --git a/source/Sensor.m b/source/Sensor.m
index ffdb7aca409ae40bc95f8b73b92357a23a82aa49..89507751c6da37752df7c6d2607dbc8b9c75c53b 100644
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -243,14 +243,9 @@ classdef Sensor < MaskedHandle
% * This clears ALL the sensors right now, no other Op-Code available... :(
%
- if ~sensor.physicalSensorConnected
- error('Could not detect sensor at Port %d',...
- sensor.port+1);
- end
-
% warning(['Current version of reset resets ALL devices, that is, ',...
% 'all motor tacho counts and all other sensor counters!']);
- sensor.handleCommand(@inputDeviceClrAll, 0);
+ sensor.handleCommand(@inputDeviceClrAll, false, 0);
end
%% Setter
@@ -381,13 +376,7 @@ classdef Sensor < MaskedHandle
methods (Access = private) % Private brick functions that are wrapped by dependent params
function setMode(sensor, mode)
- if ~sensor.physicalSensorConnected
- error('Could not detect sensor at Port %d',...
- sensor.port+1);
- end
-
- sensor.handleCommand(@inputReadSI, 0, sensor.port, mode); % Reading a value implicitly
- % sets the mode.
+ sensor.handleCommand(@inputReadSI, true, 0, sensor.port, mode); % Reading a value implicitly sets the mode.
end
function val = getValue(sensor, varargin)
@@ -415,7 +404,7 @@ classdef Sensor < MaskedHandle
mode = sensor.mode;
end
- val = sensor.handleCommand(@inputReadSI, 0, sensor.port, sensor.mode);
+ val = sensor.handleCommand(@inputReadSI, false, 0, sensor.port, sensor.mode);
if strcmp(class(sensor.mode), 'DeviceMode.Color')
@@ -426,12 +415,12 @@ classdef Sensor < MaskedHandle
% See note
if isnan(val)
- val = sensor.handleCommand(@inputReadSI, 0, sensor.port, sensor.mode);
+ val = sensor.handleCommand(@inputReadSI, false, 0, sensor.port, sensor.mode);
end
end
function status = getStatus(sensor)
- statusNo = sensor.handleCommand(@inputDeviceGetConnection, 0, sensor.port);
+ statusNo = sensor.handleCommand(@inputDeviceGetConnection, false, 0, sensor.port);
status = ConnectionType(statusNo);
end
@@ -440,7 +429,7 @@ classdef Sensor < MaskedHandle
for i = 1:10
try
- [typeNo,modeNo] = sensor.handleCommand(@inputDeviceGetTypeMode, 0, sensor.port);
+ [typeNo,modeNo] = sensor.handleCommand(@inputDeviceGetTypeMode, false, 0, sensor.port);
type = DeviceType(typeNo);
catch ME
continue;
@@ -455,7 +444,7 @@ classdef Sensor < MaskedHandle
end
end
- function varargout = handleCommand(sensor, commandHandle, varargin)
+ function varargout = handleCommand(sensor, commandHandle, checkDevice, varargin)
% Execute a CommunicationInterface-method given as a handle
%
% As those methods have different, fixed numbers of output arguments, this quantity
@@ -466,6 +455,11 @@ classdef Sensor < MaskedHandle
'You have to call connect(...) on the EV3 object first!'];
id = [ID(), ':', 'NotConnected'];
+ throw(MException(id, msg));
+ elseif checkDevice && ~sensor.physicalSensorConnected
+ msg = ['Could not detect sensor at port %d', sensor.port+1, '.'];
+ id = [ID(), ':', 'NoDevice'];
+
throw(MException(id, msg));
end
@@ -483,11 +477,11 @@ classdef Sensor < MaskedHandle
%sensor.ev3Handle.detectedCommError(ME.identifier, ME.message);
if ~isempty(strfind(ME.identifier, 'CommError'))
warning('Lost connection to the Brick!');
- sensor.disconnect();
+% sensor.disconnect();
else
- warning('Something went wrong. Trying to reset the connection...');
- sensor.disconnect();
- sensor.connect();
+ warning('Something went wrong. Try to reset the connection.');
+% sensor.disconnect();
+% sensor.connect();
end
throw(exception);