diff --git a/docs/_build/doctrees/environment.pickle b/docs/_build/doctrees/environment.pickle
index 70a72e376b9fb8a68bcf6f0c6ec1ec00e02a6cc1..7794690289e5caa38b090c24f5e2fb653591fcbe 100644
Binary files a/docs/_build/doctrees/environment.pickle and b/docs/_build/doctrees/environment.pickle differ
diff --git a/docs/_build/doctrees/source.doctree b/docs/_build/doctrees/source.doctree
index ff349dfe734ba3a81392310fd7f4444f7ec5aba3..907be8bf9fe3294647328ac7ff4db17df046323a 100644
Binary files a/docs/_build/doctrees/source.doctree and b/docs/_build/doctrees/source.doctree differ
diff --git a/docs/_build/html/.buildinfo b/docs/_build/html/.buildinfo
index 9d36cd0526daf09e7e3edf595ae7ef3b5e34306b..2f914f46cb0793f7cc02b51eb2ff4d61c3be649c 100644
--- a/docs/_build/html/.buildinfo
+++ b/docs/_build/html/.buildinfo
@@ -1,4 +1,4 @@
# Sphinx build info version 1
# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 19aa848f4e235fc5c5fdc8e80c16af87
+config: 5962c7d7ff4477f5fe69f4114d507ce9
tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/docs/_build/html/_sources/source.txt b/docs/_build/html/_sources/source.txt
index 7b7ae8fa5a34c30fc9cbec043277323f0b381cb0..589e1dd71f965275426b905e185bec519a40f781 100644
--- a/docs/_build/html/_sources/source.txt
+++ b/docs/_build/html/_sources/source.txt
@@ -1,3 +1,4 @@
+.. automodule:: source
.. |br| raw:: html
diff --git a/docs/_build/html/genindex.html b/docs/_build/html/genindex.html
index cace62e087a2a5460de3c4f9e915b062ef6f8d31..d5a11928440a916168201c860a5a18277bbb810b 100644
--- a/docs/_build/html/genindex.html
+++ b/docs/_build/html/genindex.html
@@ -6,7 +6,7 @@
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
- <title>Index — Mindstorms EV3 Toolbox v0.3-rc.8 documentation</title>
+ <title>Index — Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
<link rel="stylesheet" href="_static/basic.css" type="text/css" />
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -17,7 +17,7 @@
<script type="text/javascript">
var DOCUMENTATION_OPTIONS = {
URL_ROOT: './',
- VERSION: 'v0.3-rc.8',
+ VERSION: 'v0.4-rc.10',
COLLAPSE_INDEX: false,
FILE_SUFFIX: '.html',
HAS_SOURCE: true
@@ -32,7 +32,7 @@
<script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
<link rel="index" title="Index" href="#" />
<link rel="search" title="Search" href="search.html" />
- <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.8 documentation" href="index.html" />
+ <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
<meta charset='utf-8'>
<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
<meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
@@ -52,7 +52,7 @@
</button>
<a class="navbar-brand" href="index.html">
Mindstorms EV3 Toolbox</a>
- <span class="navbar-text navbar-version pull-left"><b>v0.3</b></span>
+ <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
</div>
<div class="collapse navbar-collapse nav-collapse">
@@ -121,8 +121,329 @@
<h1 id="index">Index</h1>
<div class="genindex-jumpbox">
+ <a href="#B"><strong>B</strong></a>
+ | <a href="#C"><strong>C</strong></a>
+ | <a href="#D"><strong>D</strong></a>
+ | <a href="#E"><strong>E</strong></a>
+ | <a href="#I"><strong>I</strong></a>
+ | <a href="#L"><strong>L</strong></a>
+ | <a href="#M"><strong>M</strong></a>
+ | <a href="#P"><strong>P</strong></a>
+ | <a href="#R"><strong>R</strong></a>
+ | <a href="#S"><strong>S</strong></a>
+ | <a href="#T"><strong>T</strong></a>
+ | <a href="#V"><strong>V</strong></a>
+ | <a href="#W"><strong>W</strong></a>
</div>
+<h2 id="B">B</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.EV3.batteryMode">batteryMode (source.EV3 attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.batteryValue">batteryValue (source.EV3 attribute)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.EV3.beep">beep() (source.EV3 method)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Motor.brakeMode">brakeMode (source.Motor attribute)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="C">C</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.EV3.connect">connect() (source.EV3 method)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Motor.currentSpeed">currentSpeed (source.Motor attribute)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="D">D</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.EV3.debug">debug (source.EV3 attribute)</a>
+ </dt>
+
+ <dd><dl>
+
+ <dt><a href="source.html#source.Motor.debug">(source.Motor attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Sensor.debug">(source.Sensor attribute)</a>
+ </dt>
+
+ </dl></dd>
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.EV3.disconnect">disconnect() (source.EV3 method)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="E">E</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.EV3">EV3 (class in source)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="I">I</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Motor.internalReset">internalReset() (source.Motor method)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.EV3.isConnected">isConnected (source.EV3 attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Motor.isRunning">isRunning (source.Motor attribute)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="L">L</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Motor.limitMode">limitMode (source.Motor attribute)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Motor.limitValue">limitValue (source.Motor attribute)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="M">M</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Sensor.mode">mode (source.Sensor attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Motor">Motor (class in source)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.motorA">motorA (source.EV3 attribute)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.EV3.motorB">motorB (source.EV3 attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.motorC">motorC (source.EV3 attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.motorD">motorD (source.EV3 attribute)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="P">P</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.EV3.playTone">playTone() (source.EV3 method)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Motor.power">power (source.Motor attribute)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="R">R</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Sensor.reset">reset() (source.Sensor method)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Motor.resetTachoCount">resetTachoCount() (source.Motor method)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="S">S</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Sensor">Sensor (class in source)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.sensor1">sensor1 (source.EV3 attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.sensor2">sensor2 (source.EV3 attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.sensor3">sensor3 (source.EV3 attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.sensor4">sensor4 (source.EV3 attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Motor.setBrake">setBrake() (source.Motor method)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.setProperties">setProperties() (source.EV3 method)</a>
+ </dt>
+
+ <dd><dl>
+
+ <dt><a href="source.html#source.Motor.setProperties">(source.Motor method)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Sensor.setProperties">(source.Sensor method)</a>
+ </dt>
+
+ </dl></dd>
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Motor.smoothStart">smoothStart (source.Motor attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Motor.smoothStop">smoothStop (source.Motor attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#module-source">source (module)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Motor.speedRegulation">speedRegulation (source.Motor attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Motor.start">start() (source.Motor method)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Motor.stop">stop() (source.Motor method)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.stopAllMotors">stopAllMotors() (source.EV3 method)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.stopTone">stopTone() (source.EV3 method)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Motor.syncedStart">syncedStart() (source.Motor method)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.Motor.syncedStop">syncedStop() (source.Motor method)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="T">T</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Motor.tachoCount">tachoCount (source.Motor attribute)</a>
+ </dt>
+
+
+ <dt><a href="source.html#source.EV3.tonePlayed">tonePlayed() (source.EV3 method)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Motor.type">type (source.Motor attribute)</a>
+ </dt>
+
+ <dd><dl>
+
+ <dt><a href="source.html#source.Sensor.type">(source.Sensor attribute)</a>
+ </dt>
+
+ </dl></dd>
+ </dl></td>
+</tr></table>
+
+<h2 id="V">V</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Sensor.value">value (source.Sensor attribute)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="W">W</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="source.html#source.Motor.waitFor">waitFor() (source.Motor method)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
</div>
diff --git a/docs/_build/html/index.html b/docs/_build/html/index.html
index b138cbe3afe559e42ce23503d46632286214e129..045ce15577b0f1b06ee2be41b928bd3bf1a3da35 100644
--- a/docs/_build/html/index.html
+++ b/docs/_build/html/index.html
@@ -5,7 +5,7 @@
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
- <title>Toolbox for controlling Lego Mindstorms EV3 with MATLAB — Mindstorms EV3 Toolbox v0.3-rc.8 documentation</title>
+ <title>Toolbox for controlling Lego Mindstorms EV3 with MATLAB — Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
<link rel="stylesheet" href="_static/basic.css" type="text/css" />
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -16,7 +16,7 @@
<script type="text/javascript">
var DOCUMENTATION_OPTIONS = {
URL_ROOT: './',
- VERSION: 'v0.3-rc.8',
+ VERSION: 'v0.4-rc.10',
COLLAPSE_INDEX: false,
FILE_SUFFIX: '.html',
HAS_SOURCE: true
@@ -31,7 +31,7 @@
<script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
- <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.8 documentation" href="#" />
+ <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="#" />
<link rel="next" title="EV3" href="source.html" />
<meta charset='utf-8'>
<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
@@ -52,7 +52,7 @@
</button>
<a class="navbar-brand" href="#">
Mindstorms EV3 Toolbox</a>
- <span class="navbar-text navbar-version pull-left"><b>v0.3</b></span>
+ <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
</div>
<div class="collapse navbar-collapse nav-collapse">
diff --git a/docs/_build/html/mat-modindex.html b/docs/_build/html/mat-modindex.html
index 60f8734737f102722b945393c8287623673d3eea..1860710e5b7ebde5ad31d8827420608dc24cddd9 100644
--- a/docs/_build/html/mat-modindex.html
+++ b/docs/_build/html/mat-modindex.html
@@ -5,7 +5,7 @@
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
- <title>MATLAB Module Index — Mindstorms EV3 Toolbox v0.3-rc.8 documentation</title>
+ <title>MATLAB Module Index — Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
<link rel="stylesheet" href="_static/basic.css" type="text/css" />
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -16,7 +16,7 @@
<script type="text/javascript">
var DOCUMENTATION_OPTIONS = {
URL_ROOT: './',
- VERSION: 'v0.3-rc.8',
+ VERSION: 'v0.4-rc.10',
COLLAPSE_INDEX: false,
FILE_SUFFIX: '.html',
HAS_SOURCE: true
@@ -31,7 +31,7 @@
<script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
- <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.8 documentation" href="index.html" />
+ <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
<meta charset='utf-8'>
<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
@@ -58,7 +58,7 @@
</button>
<a class="navbar-brand" href="index.html">
Mindstorms EV3 Toolbox</a>
- <span class="navbar-text navbar-version pull-left"><b>v0.3</b></span>
+ <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
</div>
<div class="collapse navbar-collapse nav-collapse">
@@ -153,7 +153,7 @@
</p>
<p>
- © Copyright 2016, LfB RWTH-Aachen.<br/>
+ © Copyright 2016, LfB - RWTH Aachen.<br/>
Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
</p>
</div>
diff --git a/docs/_build/html/objects.inv b/docs/_build/html/objects.inv
index da6b03fcc6d288e41b8d8d5ca287bd4ca6b2c617..f9b32ebf05a4d518ca862cb167db59b06156c49c 100644
Binary files a/docs/_build/html/objects.inv and b/docs/_build/html/objects.inv differ
diff --git a/docs/_build/html/search.html b/docs/_build/html/search.html
index 1c4f7041ce210a6f5b73534c4d462c06c758de62..57497e3195728c761403578d1ce321e2bd22abee 100644
--- a/docs/_build/html/search.html
+++ b/docs/_build/html/search.html
@@ -5,7 +5,7 @@
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
- <title>Search — Mindstorms EV3 Toolbox v0.3-rc.8 documentation</title>
+ <title>Search — Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
<link rel="stylesheet" href="_static/basic.css" type="text/css" />
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -16,7 +16,7 @@
<script type="text/javascript">
var DOCUMENTATION_OPTIONS = {
URL_ROOT: './',
- VERSION: 'v0.3-rc.8',
+ VERSION: 'v0.4-rc.10',
COLLAPSE_INDEX: false,
FILE_SUFFIX: '.html',
HAS_SOURCE: true
@@ -32,7 +32,7 @@
<script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="#" />
- <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.8 documentation" href="index.html" />
+ <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
<script type="text/javascript">
jQuery(function() { Search.loadIndex("searchindex.js"); });
</script>
@@ -59,7 +59,7 @@
</button>
<a class="navbar-brand" href="index.html">
Mindstorms EV3 Toolbox</a>
- <span class="navbar-text navbar-version pull-left"><b>v0.3</b></span>
+ <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
</div>
<div class="collapse navbar-collapse nav-collapse">
diff --git a/docs/_build/html/searchindex.js b/docs/_build/html/searchindex.js
index 61d563630172e1f55d2ce7a8e704bc7b357668fc..25c11b86f510e7aae182dd3588a9221f9628a14c 100644
--- a/docs/_build/html/searchindex.js
+++ b/docs/_build/html/searchindex.js
@@ -1 +1 @@
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diff --git a/docs/_build/html/source.html b/docs/_build/html/source.html
index a0b56117d4c7045b1664e9094431f465dee2964f..d43afef569295adabaf396a099f598e0b33e569e 100644
--- a/docs/_build/html/source.html
+++ b/docs/_build/html/source.html
@@ -5,7 +5,7 @@
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
- <title>EV3 — Mindstorms EV3 Toolbox v0.3-rc.8 documentation</title>
+ <title>EV3 — Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
<link rel="stylesheet" href="_static/basic.css" type="text/css" />
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
@@ -16,7 +16,7 @@
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@@ -31,7 +31,7 @@
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<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
- <link rel="top" title="Mindstorms EV3 Toolbox v0.3-rc.8 documentation" href="index.html" />
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<a class="navbar-brand" href="index.html">
Mindstorms EV3 Toolbox</a>
- <span class="navbar-text navbar-version pull-left"><b>v0.3</b></span>
+ <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
</div>
<div class="collapse navbar-collapse nav-collapse">
@@ -130,14 +130,801 @@
<div class="row">
<div class="col-md-12 content">
- <div class="section" id="ev3">
+ <span class="target" id="module-source"></span><div class="section" id="ev3">
<h1>EV3<a class="headerlink" href="#ev3" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.EV3">
+<em class="property">class </em><code class="descclassname">source.</code><code class="descname">EV3</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3" title="Permalink to this definition">¶</a></dt>
+<dd><p>High-level class to work with physical bricks.</p>
+<p>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.</p>
+<p class="rubric">Notes</p>
+<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>
+</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></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></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></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></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></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></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></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></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.debug">
+<code class="descname">debug</code><a class="headerlink" href="#source.EV3.debug" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric in {0,1,2}</em> – Debug mode. <em>[WRITABLE]</em></p>
+<ul class="simple">
+<li>0: Debug turned off</li>
+<li>1: Debug turned on for EV3-object -> enables feedback in the console about what firmware-commands have been called when using a method</li>
+<li>2: Low-level-Debug turned on -> each packet sent and received is printed to the console</li>
+</ul>
+</dd></dl>
+
+<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></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></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.isConnected">
+<code class="descname">isConnected</code><a class="headerlink" href="#source.EV3.isConnected" title="Permalink to this definition">¶</a></dt>
+<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 />
+% fun <br />
+b.sensor1.value <br />
+b.waitFor(); <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>
+</ul>
+<p class="rubric">Example</p>
+<p>b = EV3(); <br />
+b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); <br />
+b.beep(); <br /></p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.EV3.connect">
+<code class="descname">connect</code><span class="sig-paren">(</span><em>ev3</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.connect" title="Permalink to this definition">¶</a></dt>
+<dd><p>Connects EV3-object and its Motors and Sensors to physical brick.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<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>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>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Examples</p>
+<p>% Setup bluetooth connection via com-port 0 <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>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.EV3.disconnect">
+<code class="descname">disconnect</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.disconnect" title="Permalink to this definition">¶</a></dt>
+<dd><p>Disconnects EV3-object and its Motors and Sensors from physical brick.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<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>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.EV3.playTone">
+<code class="descname">playTone</code><span class="sig-paren">(</span><em>ev3</em>, <em>volume</em>, <em>frequency</em>, <em>duration</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.playTone" title="Permalink to this definition">¶</a></dt>
+<dd><p>Plays tone on brick.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<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>volume</strong> (<em>numeric in [0, 100]</em>) – in percent</li>
+<li><strong>frequency</strong> (<em>numeric in [250, 10000]</em>) – in Hertz</li>
+<li><strong>duration</strong> (<em>numeric >0</em>) – in milliseconds</li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Example</p>
+<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>
+
+<dl class="method">
+<dt id="source.EV3.setProperties">
+<code class="descname">setProperties</code><span class="sig-paren">(</span><em>ev3</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.setProperties" title="Permalink to this definition">¶</a></dt>
+<dd><p>Set multiple EV3 properties at once using MATLAB’s inputParser.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<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>numeric in {0,1,2}</em>) – see EV3.debug <em>[OPTIONAL]</em></li>
+<li><strong>batteryMode</strong> (<em>string in {'Voltage'/'Percentage'}</em>) – see EV3.batteryMode <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.setProperties(‘debug’, ‘on’, ‘batteryMode’, ‘Voltage’); <br />
+% Instead of: b.debug = ‘on’; b.batteryMode = ‘Voltage’; <br /></p>
+<p>See also EV3.DEBUG, EV3.BATTERYMODE</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></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>
+<p class="rubric">Example</p>
+<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>
+
+<dl class="method">
+<dt id="source.EV3.tonePlayed">
+<code class="descname">tonePlayed</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.tonePlayed" title="Permalink to this definition">¶</a></dt>
+<dd><p>Tests if tone is currently played.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Returns:</th><td class="field-body"><strong>status</strong> – True if a tone is being played</td>
+</tr>
+<tr class="field-even field"><th class="field-name">Return type:</th><td class="field-body">bool</td>
+</tr>
+</tbody>
+</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>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
</div>
<div class="section" id="motor">
<h1>Motor<a class="headerlink" href="#motor" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.Motor">
+<em class="property">class </em><code class="descclassname">source.</code><code class="descname">Motor</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor" title="Permalink to this definition">¶</a></dt>
+<dd><p>High-level class to work with motors.</p>
+<p>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.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>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.</li>
+<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>
+</ul>
+<dl class="attribute">
+<dt id="source.Motor.power">
+<code class="descname">power</code><a class="headerlink" href="#source.Motor.power" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric in [-100, 100]</em> – Power level of motor in percent. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.speedRegulation">
+<code class="descname">speedRegulation</code><a class="headerlink" href="#source.Motor.speedRegulation" title="Permalink to this definition">¶</a></dt>
+<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
+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>
+
+<dl class="attribute">
+<dt id="source.Motor.smoothStart">
+<code class="descname">smoothStart</code><a class="headerlink" href="#source.Motor.smoothStart" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric s. t. smoothStart+smoothStop < limitValue</em> – 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. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.smoothStop">
+<code class="descname">smoothStop</code><a class="headerlink" href="#source.Motor.smoothStop" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric s. t. smoothStart+smoothStop < limitValue</em> – 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. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.limitValue">
+<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>
+</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></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.brakeMode">
+<code class="descname">brakeMode</code><a class="headerlink" href="#source.Motor.brakeMode" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>‘Brake’|’Coast’</em> – 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. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.debug">
+<code class="descname">debug</code><a class="headerlink" href="#source.Motor.debug" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> – 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. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.isRunning">
+<code class="descname">isRunning</code><a class="headerlink" href="#source.Motor.isRunning" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> – True if motor is running. <em>[READ-ONLY]</em></p>
+</dd></dl>
+
+<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></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>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.type">
+<code class="descname">type</code><a class="headerlink" href="#source.Motor.type" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>DeviceType</em> – Type of connected device if any. <em>[READ-ONLY]</em></p>
+</dd></dl>
+
+<dl class="method">
+<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>
+<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
+physically change the motor’s position or it coasted into a stop. If the motor’s
+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>
+</ul>
+<p>count is > 0</p>
+<p>See also MOTOR.RESETTACHOCOUNT</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></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>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>brake</strong> (<em>bool</em>) – If true, brake will be pulled</td>
+</tr>
+</tbody>
+</table>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Motor.setProperties">
+<code class="descname">setProperties</code><span class="sig-paren">(</span><em>motor</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.setProperties" title="Permalink to this definition">¶</a></dt>
+<dd><p>Sets multiple Motor properties at once using MATLAB’s inputParser.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<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>
+</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 />
+% Instead of: b.motorA.debug = ‘on’; <br />
+% b.motorA.power = 50; <br />
+% b.motorA.limitValue = 720; <br />
+% b.motorA.speedRegulation = ‘on’; <br /></p>
+</dd></dl>
+
+<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>
+<li>(OLD)After calling one of the functions to control the motor with some kind of
+limit (which is done if limit~=0), the physical brick’s power/speed value for
+starting without a limit (i.e. if limit==0) is reset to zero. So if you want
+to control the motor without a limit after doing so with a limit, you would
+have to set the power manually to the desired value again. (I don’t really
+know if this is deliberate or a bug, and at this point, I’m too afraid to ask.)
+To avoid confusion, this is done automatically in this special case.
+However, this does not even work all the time. If motor does not
+start, call stop() and setPower() manually. :/</li>
+</ul>
+<p>Check connection and if motor is already running</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></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>
+<p>This motor acts as a ‘master’, meaning that the synchronized control is done via
+this one. 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, changing the power on the master motor will take effect
+on the slave as soon as this method is called.
+The following parameters will be affected on the slave: power, brakeMode,
+limitValue, speedRegulation</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<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>syncMotor</strong> (<em>Motor</em>) – the motor-object to sync with</li>
+<li><strong>turnRatio</strong> (<em>numeric in [-200,200]</em>) – <p><em>[OPTIONAL]</em> <br /> (Excerpt of Firmware-comments, in c_output.c):
+“Turn ratio is how tight you turn and to what direction you turn.</p>
+<blockquote>
+<div><ul>
+<li>0 value is moving straight forward</li>
+<li>Negative values turn to the left</li>
+<li>Positive values turn to the right</li>
+<li>Value -100 stops the left motor</li>
+<li>Value +100 stops the right motor</li>
+<li>Values less than -100 makes the left motor run the opposite direction of the right motor (Spin)</li>
+<li>Values greater than +100 makes the right motor run the opposite direction of the left motor (Spin)”</li>
+</ul>
+</div></blockquote>
+</li>
+</ul>
+</td>
+</tr>
+</tbody>
+</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>It is necessary to call syncedStop() and not stop() for stopping the motors
+(otherwise the sync-state cannot be exited correctly)</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 />
+% Do stuff
+m.syncedStop(); <br /></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>
+</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>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>(OLD)This one’s a bit tricky. The opCode 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>
+</ul>
+</dd></dl>
+
+</dd></dl>
+
</div>
<div class="section" id="sensor">
<h1>Sensor<a class="headerlink" href="#sensor" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.Sensor">
+<em class="property">class </em><code class="descclassname">source.</code><code class="descname">Sensor</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Sensor" title="Permalink to this definition">¶</a></dt>
+<dd><p>High-level class to work with sensors.</p>
+<p>The Sensor-class facilitates the communication with sensors. This mainly consists of
+reading the sensor’s type and current value in a specified mode.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<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>
+</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>
+<li><dl class="first docutils">
+<dt>Touch-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.Touch.Pushed <em>[Default]</em></li>
+<li>DeviceMode.Touch.Bumps</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>Ultrasonic-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.UltraSonic.DistCM <em>[Default]</em></li>
+<li>DeviceMode.UltraSonic.DistIn</li>
+<li>DeviceMode.UltraSonic.Listen</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>Color-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.Color.Reflect <em>[Default]</em></li>
+<li>DeviceMode.Color.Ambient</li>
+<li>DeviceMode.Color.Col</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>Gyro-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.Gyro.Angular <em>[Default]</em></li>
+<li>DeviceMode.Gyro.Rate</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>Infrared-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.InfraRed.Prox <em>[Default]</em></li>
+<li>DeviceMode.InfraRed.Seek</li>
+<li>DeviceMode.InfraRed.Remote</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTColor-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTColor.Reflect <em>[Default]</em></li>
+<li>DeviceMode.NXTColor.Ambient</li>
+<li>DeviceMode.NXTColor.Color</li>
+<li>DeviceMode.NXTColor.Green</li>
+<li>DeviceMode.NXTColor.Blue</li>
+<li>DeviceMode.NXTColor.Raw</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTLight-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTLight.Reflect <em>[Default]</em></li>
+<li>DeviceMode.NXTLight.Ambient</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTSound-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTSound.DB <em>[Default]</em></li>
+<li>DeviceMode.NXTSound.DBA</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTTemperature-Sensor</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTTemperature.C <em>[Default]</em></li>
+<li>DeviceMode.NXTTemperature.F</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTTouch-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTTouch.Pushed <em>[Default]</em></li>
+<li>DeviceMode.NXTTouch.Bumps</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTUltraSonic-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTUltraSonic.CM <em>[Default]</em></li>
+<li>DeviceMode.NXTUltraSonic.IN</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>HTAccelerometer-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.HTAccelerometer.Acceleration <em>[Default]</em></li>
+<li>DeviceMode.HTAccelerometer.AccelerationAllAxes</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>HTCompass-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.HTCompass.Degrees <em>[Default]</em></li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>HTColor-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.HTColor.Col <em>[Default]</em></li>
+<li>DeviceMode.HTColor.Red</li>
+<li>DeviceMode.HTColor.Green</li>
+<li>DeviceMode.HTColor.Blue</li>
+<li>DeviceMode.HTColor.White</li>
+<li>DeviceMode.HTColor.Raw</li>
+<li>DeviceMode.HTColor.Nr,</li>
+<li>DeviceMode.HTColor.All</li>
+</ul>
+</dd>
+</dl>
+</li>
+</ul>
+</div></blockquote>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Sensor.debug">
+<code class="descname">debug</code><a class="headerlink" href="#source.Sensor.debug" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> – 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. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<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>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Sensor.type">
+<code class="descname">type</code><a class="headerlink" href="#source.Sensor.type" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>DeviceType</em> – Type of physical sensor connected to the port. Possible types are: [READ-ONLY]</p>
+<ul class="simple">
+<li>DeviceType.NXTTouch</li>
+<li>DeviceType.NXTLight</li>
+<li>DeviceType.NXTSound</li>
+<li>DeviceType.NXTColor</li>
+<li>DeviceType.NXTUltraSonic</li>
+<li>DeviceType.NXTTemperature</li>
+<li>DeviceType.LargeMotor</li>
+<li>DeviceType.MediumMotor</li>
+<li>DeviceType.Touch</li>
+<li>DeviceType.Color</li>
+<li>DeviceType.UltraSonic</li>
+<li>DeviceType.Gyro</li>
+<li>DeviceType.InfraRed</li>
+<li>DeviceType.HTColor</li>
+<li>DeviceType.HTCompass</li>
+<li>DeviceType.HTAccelerometer</li>
+<li>DeviceType.Unknown</li>
+<li>DeviceType.None</li>
+<li>DeviceType.Error</li>
+</ul>
+</dd></dl>
+
+<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>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This clears ALL the sensors right now, no other Op-Code available... :(</li>
+</ul>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Sensor.setProperties">
+<code class="descname">setProperties</code><span class="sig-paren">(</span><em>sensor</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Sensor.setProperties" title="Permalink to this definition">¶</a></dt>
+<dd><p>Sets multiple Sensor properties at once using MATLAB’s inputParser.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<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>
+</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 />
+% Instead of: b.sensor1.debug = ‘on’; <br />
+% b.sensor1.mode = DeviceMode.Color.Ambient; <br /></p>
+</dd></dl>
+
+</dd></dl>
+
</div>