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Commit 74426939 authored by Tim Stadtmann's avatar Tim Stadtmann
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Update format of device-docs

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source/Motor.m
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classdef Motor < MaskedHandle & dynamicprops
% Motor High-level class to work with motors.
% High-level class to work with motors.
%
% This class is supposed to ease the use of the brick's motors. It is possible to set all
% kinds of parameters, request the current status of the motor ports and of course send
% commands to the brick to be executed on the respective port.
% commands to the brick to be executed on the respective port.
%
% Notes:
% * 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.
% * The Motor-class represents motor ports, not individual motors!
%
%
% Signature
% Author: Tim Stadtmann
% Date: 2016/05/19
% Updated: 2016/08/15
% Attributes:
% power (numeric in [-100, 100]): Power level of motor in percent. [WRITABLE]
% speedRegulation (bool): Speed regulation turned on or off. When turned on, motor will
% try to 'hold' its speed at given power level, whatever the load. In this mode, the
% highest possible speed depends on the load and mostly goes up to around 70-80 (at
% this point, the Brick internally input 100% power). When turned off, motor will
% constantly input the same power into the motor. The resulting speed will be
% somewhat lower, depending on the load. [WRITABLE]
% smoothStart (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time
% indicating how far/long the motor should smoothly start. Depending on limitMode,
% the input is interpreted either in degrees or milliseconds. The first
% {smoothStart}-milliseconds/degrees of limitValue the motor will slowly accelerate
% until reaching its defined speed. [WRITABLE]
% smoothStop (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time
% indicating how far/long the motor should smoothly stop. Depending on limitMode, the
% input is interpreted either in degrees or milliseconds. The last
% [smoothStop]-milliseconds/degrees of limitValue the motor will slowly slow down
% until it has stopped. [WRITABLE]
% limitValue (numeric>=0): Degrees/Time indicating how far/long the motor should run.
% Depending on limitMode, the input is interpreted either in degrees or
% milliseconds. [WRITABLE]
% limitMode ('Tacho'|'Time'): Mode for motor limit. [WRITABLE]
% brakeMode ('Brake'|'Coast'): Mode for braking. If 'Coast', the motor will (at
% tacholimit, if ~=0) coast to a stop. If 'Brake', the motor will stop immediately
% (at tacholimit, if ~=0) and hold the brake. [WRITABLE]
% debug (bool): Debug turned on or off. In debug mode, everytime a command is passed to
% the sublayer ('communication layer'), there is feedback in the console about what
% command has been called. [WRITABLE]
% isRunning (bool): True if motor is running. [READ-ONLY]
% tachoCount (numeric): Current tacho count. [READ-ONLY]
% currentSpeed (numeric): Current speed of motor. If speedRegulation=on this should equal power,
% otherwise it will probably be lower than that. [READ-ONLY]
% type (DeviceType): Type of connected device if any. [READ-ONLY]
properties % Standard properties to be set by user
%power - [Writable] Power level of motor in percent (numeric in [-100, 100])
% power (numeric in [-100, 100]): Power level of motor in percent. [WRITABLE]
power;
%speedRegulation - [Writable] Speed regulation turned on or off (0/1/off/on/'false'/'true')
% 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.
% speedRegulation (bool): Speed regulation turned on or off. When turned on, motor will
% try to 'hold' its speed at given power level, whatever the load. In this mode, the
% highest possible speed depends on the load and mostly goes up to around 70-80 (at
% this point, the Brick internally input 100% power). When turned off, motor will
% constantly input the same power into the motor. The resulting speed will be
% somewhat lower, depending on the load. [WRITABLE]
speedRegulation;
%smoothStart - [Writable] Degrees/Time indicating how far/long the motor should smoothly start (numeric such that smoothStart+smoothStop < limitValue)
% 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 it's defined speed.
% See also MOTOR.LIMITMODE
% smoothStart (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time
% indicating how far/long the motor should smoothly start. Depending on limitMode,
% the input is interpreted either in degrees or milliseconds. The first
% {smoothStart}-milliseconds/degrees of limitValue the motor will slowly accelerate
% until reaching its defined speed. [WRITABLE]
smoothStart;
%smoothStop - [Writable] Degrees/Time indicating how far/long the motor should smoothly stop (numeric such that smoothStart+smoothStop < limitValue)
% Depending on limitMode, the input is interpreted either in degrees or milliseconds.
% The last [smoothStop]-milliseconds/degrees of limitValue the motor will slowly
% slow down until it has stopped.
% See also MOTOR.LIMITMODE
% smoothStop (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time
% indicating how far/long the motor should smoothly stop. Depending on limitMode, the
% input is interpreted either in degrees or milliseconds. The last
% [smoothStop]-milliseconds/degrees of limitValue the motor will slowly slow down
% until it has stopped. [WRITABLE]
smoothStop;
%limitValue - [Writable] Degrees/Time indicating how far/long the motor should run (numeric>=0)
% Depending on limitMode, the input is interpreted either in degrees or milliseconds.
% See also MOTOR.LIMITMODE
% limitValue (numeric>=0): Degrees/Time indicating how far/long the motor should run.
% Depending on limitMode, the input is interpreted either in degrees or
% milliseconds. [WRITABLE]
% See also MOTOR.LIMITMODE
limitValue;
%limitMode - [Writable] Mode for motor limit ('Tacho'/'Time')
% limitMode ('Tacho'|'Time'): Mode for motor limit. [WRITABLE]
% See also MOTOR.SMOOTHSTART, MOTOR.SMOOTHSTOP, MOTOR.LIMITMODE
limitMode;
%brakeMode - [Writable] Mode for braking ('Brake'/'Coast')
% 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.
% brakeMode ('Brake'|'Coast'): Mode for braking. If 'Coast', the motor will (at
% tacholimit, if ~=0) coast to a stop. If 'Brake', the motor will stop immediately
% (at tacholimit, if ~=0) and hold the brake. [WRITABLE]
brakeMode;
%debug - [Writable] Debug turned on or off (0/1/off/on/'false'/'true')
% 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
% debug (bool): Debug turned on or off. In debug mode, everytime a command is passed to
% the sublayer ('communication layer'), there is feedback in the console about what
% command has been called. [WRITABLE]
debug;
end
properties (Dependent) % Read-only parameters to be read directly from physical brick
%isRunning - [Read-only] True if motor is running (i.e. speed > 0)
% isRunning (bool): True if motor is running. [READ-ONLY]
isRunning;
%tachoCount - [Read-only] Current tacho count
% tachoCount (numeric): Current tacho count. [READ-ONLY]
tachoCount;
%currentSpeed - [Read-only] Current speed of motor
% If speedRegulation=on this should equal power, otherwise it will probably be lower
% than that.
% currentSpeed (numeric): Current speed of motor. If speedRegulation=on this should
% equal power, otherwise it will probably be lower than that. [READ-ONLY]
% See also MOTOR.SPEEDREGULATION
currentSpeed;
%type - [Read-only] Type of connected device if any
% See also DEVICETYPE
% type (DeviceType): Type of connected device if any. [READ-ONLY]
type;
end
properties (Hidden, Access = 'private') % Hidden properties for internal use only
commInterface; % Communication interface
properties (Hidden, Access = private) % Hidden properties for internal use only
% commInterface (CommunicationInterface): Commands are created and sent via the
% communication interface class.
commInterface;
%% Hidden brick parameters
%port - [Read-only] Motor port
% This is only the string representation of the motor port to work with.
% Internally, either MotorPort-, MotorBitfield- or MotorInput-member will be used.
% port (string): Motor port. This is only the string representation of the motor port
% to work with. Internally, either MotorPort-, MotorBitfield- or MotorInput-member
% will be used.
port;
% brakeMode is an actual parameter on the brick. To avoid inconsistencies with other
% modi and to prettify the output, a string representing it is saved. In order to avoid
% using string comparisons each time it is used, the corresponding value, that is going
% to be sent, is saved (hidden from the user).
% brakeMode_ (BrakeMode): Byte value, corresponding to brakeMode, that will be sent to the brick
% brakeMode is an actual parameter on the brick. To avoid inconsistencies with other
% modi and to prettify the output, a string representing it is saved. In order to avoid
% using string comparisons each time it is used, the corresponding value, that is going
% to be sent, is saved (hidden from the user).
% See also BRAKEMODE
brakeMode_;
%% Flags
init = true; % Indicates 'init-phase' (True as long as constructor is running)
connectedToBrick = false; % Connection to physical Brick?
state = MotorState(); % State consisting of several special Motor-flags
% init (bool): Indicates init-phase (i.e. constructor is running).
init = true;
% connectedToBrick (bool): True if virtual brick is connected to physical brick.
connectedToBrick = false;
% state (MotorState): State-struct consisting of several special Motor-flags
% See also MOTORSTATE
state = MotorState();
end
properties (Hidden, Dependent, Access = 'private') % Hidden, dependent properties for internal use only
portNo; % Port number
portInput; % Port number for input functions
properties (Hidden, Dependent, Access = private) % Hidden, dependent properties for internal use only
% portNo (PortNo): Internal number of motor port.
% * Port 'A': 0
% * Port 'B': 1
% * Port 'C': 2
% * Port 'D': 3
% See also PORTNO
portNo;
isSynced; % Is motor running in synced mode?
physicalMotorConnected; % Physical motor connected to this port?
%portInput (PortInput): Internal number of motor port if accessed via input-opCodes
% * Port 'A': 16
% * Port 'B': 17
% * Port 'C': 18
% * Port 'D': 19
% See also PORTINPUT
portInput;
internalTachoCount; % Internal tachocount used for positioning the motor with tacholimit
%isSynced (bool): True if motor is running in synced mode
isSynced;
%physicalMotorConnected (bool): True if physical motor is connected to this port
physicalMotorConnected;
%internalTachoCount (numeric): internal tacho counter used for positioning the motor with a limit
internalTachoCount;
end
methods % Standard methods
%% Constructor
function motor = Motor(varargin)
%Motor Sets properties of Motor-object and indicates end of init-phase when it's done.
%Motor Sets properties of Motor-object and indicates end of init-phase when it's done
%
% Arguments
% * varargin: see EV3::setProperties(ev3, varargin)
% Arguments:
% * varargin: see setProperties(motor, varargin)
%
motor.setProperties(varargin{:});
......@@ -125,9 +179,9 @@ classdef Motor < MaskedHandle & dynamicprops
%% Brick functions
function start(motor)
%start Starts the motor
% Starts the motor
%
% Notes
% Notes:
% * Right now, alternatingly calling this function with and without tacho limit
% may lead to unexpected behaviour. For example, if you run the motor without
% a tacholimit for some time using Coast, then stop using Coast, and then try
......@@ -271,7 +325,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function stop(motor)
%stop Stops the motor
% Stops the motor
if ~motor.connectedToBrick
error('Motor::stop: Motor-Object not connected to comm handle.');
......@@ -293,7 +347,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function syncedStart(motor, syncMotor, varargin)
%syncedStart Starts this motor synchronized with another
% Starts this motor synchronized with another
% 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
......@@ -302,32 +356,33 @@ classdef Motor < MaskedHandle & dynamicprops
% The following parameters will be affected on the slave: power, brakeMode,
% limitValue, speedRegulation
%
% Arguments
% * syncMotor (the other motor object to sync with)
% * 'turnRatio', numeric in [-200,200]
% Arguments:
% syncMotor (Motor): the motor-object to sync with
% turnRatio (numeric in [-200,200]): Description of turn_ratio (Excerpt of Firmware-comments, in c_output.c):
% "Turn ratio is how tight you turn and to what direction you turn. [OPTIONAL]
% * 0 value is moving straight forward
% * Negative values turn to the left
% * Positive values turn to the right
% * Value -100 stops the left motor
% * Value +100 stops the right motor
% * Values less than -100 makes the left motor run the opposite
% direction of the right motor (Spin)
% * Values greater than +100 makes the right motor run the opposite
% direction of the left motor (Spin)"
%
% Notes
% * Description of turn_ratio (Excerpt of Firmware-comments, in c_output.c):
% "Turn ratio is how tight you turn and to what direction you turn.
% -> 0 value is moving straight forward
% -> Negative values turn to the left
% -> Positive values turn to the right
% -> Value -100 stops the left motor
% -> Value +100 stops the right motor
% -> Values less than -100 makes the left motor run the opposite
% direction of the right motor (Spin)
% -> Values greater than +100 makes the right motor run the opposite
% direction of the left motor (Spin)"
% * This is right now a pretty 'heavy' function, as it tests if both motors are
% connected AND aren't running, wasting four packets, so keep that in mind
% Notes:
% * This is right now a pretty 'heavy' function, as it tests if both motors are
% connected AND aren't running, wasting four packets, keep that in mind
% * It is necessary to call syncedStop() and not stop() for stopping the motors
% (otherwise the sync-state cannot be exited correctly)
%
% Example
% b = EV3(); b.connect('usb');
% m = b.motorA;
% m.power = 50;
% m.syncedStart(b.motorB);
% % Do stuff
% m.syncedStop();
% Example:
% b = EV3(); b.connect('usb');
% m = b.motorA;
% m.power = 50;
% m.syncedStart(b.motorB);
% % Do stuff
% m.syncedStop();
%
turnRatio = 0;
......@@ -420,7 +475,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function syncedStop(motor)
%syncedStop Stops both motors previously started with syncedStart
% Stops both motors previously started with syncedStart.
% Obviously, if motors have not been started synchronized, this throws an error.
%
% See also MOTOR.SYNCEDSTART
......@@ -471,7 +526,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function waitFor(motor)
%waitFor Stops execution of program as long as motor is running
% Stops execution of program as long as motor is running
%
% Notes:
% * (OLD)This one's a bit tricky. The opCode OutputReady makes the brick stop sending
......@@ -529,7 +584,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
function internalReset(motor)
% internalReset Resets internal tacho count
% Resets internal tacho count
% Use this if motor behaves weird (i.e. not starting at all, or not correctly
% running to limitValue)
%
......@@ -559,6 +614,8 @@ classdef Motor < MaskedHandle & dynamicprops
end
function resetTachoCount(motor)
% Resets tachocount
if ~motor.connectedToBrick
error('Motor::resetTachoCount: Motor-Object not connected to comm handle.');
elseif ~motor.physicalMotorConnected
......@@ -575,10 +632,10 @@ classdef Motor < MaskedHandle & dynamicprops
end
function setBrake(motor, brake)
%setBrake Apply or release brake of motor
% Apply or release brake of motor
%
% Arguments
% * brake (0/1/off/on/'false'/'true')
% Arguments:
% brake (bool): If true, brake will be pulled
if ~isBool(brake)
error('Motor::setBrake: Given parameter is not a valid bool.');
......@@ -736,28 +793,29 @@ classdef Motor < MaskedHandle & dynamicprops
end
function setProperties(motor, varargin)
%setProperties Sets multiple Motor properties at once using MATLAB's inputParser.
% Sets multiple Motor properties at once using MATLAB's inputParser.
%
% Arguments
% * 'debug', bool
% * 'smoothStart', numeric in [0, limitValue]
% * 'smoothStop', numeric in [0, limitValue]
% * 'speedRegulation', bool
% * 'brakeMode', 'Coast'/'Brake'
% * 'limitMode', 'Time'/'Tacho'
% * 'limitValue', numeric > 0
% * 'power', numeric in [-100,100]
% * 'batteryMode', 'Voltage'/'Percentage'
% Arguments:
% debug (bool)
% smoothStart (numeric in [0, limitValue])
% smoothStop (numeric in [0, limitValue])
% speedRegulation (bool)
% brakeMode ('Coast'|'Brake')
% limitMode ('Time'|'Tacho')
% limitValue (numeric > 0)
% power (numeric in [-100,100])
% batteryMode ('Voltage'|'Percentage')
%
% Example
% b = EV3();
% b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on');
% % Instead of: b.motorA.debug = 'on';
% % b.motorA.power = 50;
% % b.motorA.limitValue = 720;
% % b.motorA.speedRegulation = 'on';
% Example:
% b = EV3();
% b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on');
% % Instead of: b.motorA.debug = 'on';
% % b.motorA.power = 50;
% % b.motorA.limitValue = 720;
% % b.motorA.speedRegulation = 'on';
%
p = inputParser();
p.KeepUnmatched = 1;
......@@ -894,17 +952,20 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
methods (Access = 'private') % Private functions that directly interact with commLayer
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:
% * If motor is running with a limit, calling outputSpeed/outputPower, to
% manually set the power on the physical brick, would stop the motor and adopt
% the new power value on next start. To avoid this, the motor could be 'restarted'
% 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 is running with a limit, calling outputSpeed/outputPower, to
% manually set the power on the physical brick, would stop the motor and adopt
% the new power value on next start. To avoid this, the motor could be 'restarted'
% 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.
%
% Returns:
% success (bool): if true, power has successfully been set
if ~motor.connectedToBrick || ~motor.physicalMotorConnected
% error('Motor::getTachoCount: Motor-Object not connected to comm handle.');
success = false;
......@@ -1012,9 +1073,9 @@ classdef Motor < MaskedHandle & dynamicprops
%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
% * 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
......@@ -1077,7 +1138,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
methods (Access = 'private', Hidden = true)
methods (Access = private, Hidden = true)
function saveState(motor)
%saveState Saves current motor state in dynamic property
......@@ -1118,22 +1179,18 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
methods (Access = {?EV3})
methods (Access = ?EV3)
function connect(motor,commInterface)
%connect Connects Motor-object to physical brick.
%
% Notes:
% * This method actually only saves a handle to a Brick-object which has been
% created beforehand (probably by an EV3-object).
%
% Arguments
% * commInterface: instance of Brick-class
% * This method is automatically called by EV3.connect()
% * This method actually only saves a handle to a Brick-object which has been
% created beforehand (probably by an EV3-object).
%
% Examples (for use without EV3-class)
% m = Motor();
% brickInterface = Brick('usb');
% m.connect(brickInterface);
% % do stuff
% Arguments:
% commInterface (CommunicationInterface): Handle to a communication interface
% device
%
if motor.connectedToBrick
......@@ -1162,23 +1219,17 @@ classdef Motor < MaskedHandle & dynamicprops
%disconnect Disconnects Motor-object from physical brick.
%
% Notes:
% * As with Motor::connect, this method actually only sets the property, in which
% the handle to the Brick-class was stored, to 0.
% * This method is automatically called by EV3.disconnect()
% * This method actually only sets the property, in which
% the handle to the CommInterface-class was stored, to 0.
%
% Examples (for use without EV3-class)
% m = Motor();
% brickInterface = Brick('usb');
% m.connect(brickInterface);
% % do stuff
% m.disconnect();
% brickInterface.delete(); % Actual disconnecting!!!
%
motor.commInterface = 0; % Note: actual deleting is done in EV3::disconnect.
motor.commInterface = 0;
motor.connectedToBrick = false;
end
function resetPhysicalMotor(motor)
%
if ~motor.connectedToBrick || ~motor.physicalMotorConnected
return;
end
......
source/Sensor.m
+ 67
− 20
View file @ 74426939
classdef Sensor < MaskedHandle
% Sensor High-level class to work with sensors.
% High-level class to work with sensors.
%
% The Sensor-class facilitates the communication with sensors. This mainly consists of
% reading the sensor's type and current value in a specified mode.
%
% Signature
% Author: Tim Stadtmann
% Date: 2016/05/20
% Updated: 2016/08/15
% Notes:
% * You don't need to create instances of this class. The EV3-class automatically creates
% instances for each sensor port, and you can work with them via the EV3-object.
% * The Sensor-class represents sensor ports, not individual sensors!
%
% Attributes:
% mode (DeviceMode.{Type}): Sensor mode in which the value will be read. By default,
% mode is set to DeviceMode.Default.Undefined. Once a physical sensor is connected
% to the port *and* the physical Brick is connected to the EV3-object, the allowed
% mode and the default mode for a Sensor-object are the following (depending on the
% sensor type): [WRITABLE]
%
% * Touch-Sensor:
% * DeviceMode.Touch.Pushed [Default]
% * DeviceMode.Touch.Bumps
% * Ultrasonic-Sensor:
% * DeviceMode.UltraSonic.DistCM [Default]
% * DeviceMode.UltraSonic.DistIn
% * DeviceMode.UltraSonic.Listen
% * Color-Sensor:
% * DeviceMode.Color.Reflect [Default]
% * DeviceMode.Color.Ambient
% * DeviceMode.Color.Col
% * Gyro-Sensor:
% * DeviceMode.Gyro.Angular [Default]
% * DeviceMode.Gyro.Rate
% debug (bool): Debug turned on or off. In debug mode, everytime a command is passed to
% the sublayer ('communication layer'), there is feedback in the console about what
% command has been called. [WRITABLE]
% value (numeric): Value read from hysical sensor. What the value represents depends on
% sensor.mode.
% type (DeviceType): Type of physical sensor connected to the port. Possible types are: [READ-ONLY]
% * DeviceType.NXTTouch
% * DeviceType.NXTLight
% * DeviceType.NXTSound
% * DeviceType.NXTColor
% * DeviceType.NXTUltraSonic
% * DeviceType.NXTTemperature
% * DeviceType.LargeMotor
% * DeviceType.MediumMotor
% * DeviceType.Touch
% * DeviceType.Color
% * DeviceType.UltraSonic
% * DeviceType.Gyro
% * DeviceType.InfraRed
% * DeviceType.Unknown
% * DeviceType.None
% * DeviceType.Error
properties % Standard properties to be set by user
%mode - [Writable] Sensor mode in which the value will be read (DeviceMode.[...])
......@@ -42,7 +89,7 @@ classdef Sensor < MaskedHandle
type;
end
properties (Hidden, Access = 'private') % Hidden properties for internal use only
properties (Hidden, Access = private) % Hidden properties for internal use only
commInterface = 0; % Communication interface
%port - [Read-only] Sensor port ('1'/'2'/'3'/'4')
......@@ -56,7 +103,7 @@ classdef Sensor < MaskedHandle
init = true; % Indicates 'init-phase' (True as long as constructor is running)
end
properties (Hidden, Dependent, Access = 'private')
properties (Hidden, Dependent, Access = private)
physicalSensorConnected; % Physical sensor connected to this port?
end
......@@ -70,6 +117,7 @@ classdef Sensor < MaskedHandle
%% Brick functions
function reset(sensor)
%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.');
......@@ -139,16 +187,16 @@ classdef Sensor < MaskedHandle
function setProperties(sensor, varargin)
%setProperties Sets multiple Sensor properties at once using MATLAB's inputParser.
%
% Arguments
% * 'debug', 0/1/'on'/'off'/'true'/'false'
% * 'mode', DeviceMode.[...]
% Arguments:
% * 'debug', 0/1/'on'/'off'/'true'/'false'
% * 'mode', DeviceMode.[...]
%
% Example
% b = EV3();
% b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient);
% % Instead of: b.sensor1.debug = 'on';
% % b.sensor1.mode = DeviceMode.Color.Ambient;
% Example:
% b = EV3();
% b.connect('bt', 'serPort', '/dev/rfcomm0');
% b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient);
% % Instead of: b.sensor1.debug = 'on';
% % b.sensor1.mode = DeviceMode.Color.Ambient;
%
p = inputParser();
......@@ -221,7 +269,7 @@ classdef Sensor < MaskedHandle
end
end
methods (Access = 'private') % Private brick functions that are wrapped by dependent params
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.');
......@@ -242,7 +290,7 @@ classdef Sensor < MaskedHandle
function val = getValue(sensor, varargin)
%getValue Reads value from sensor
%
% Notes
% Notes:
% * After changing the mode, sensors initially always send an invalid value. In
% this case, the inputReadSI-opCode is sent again to get the correct value.
%
......@@ -324,7 +372,7 @@ classdef Sensor < MaskedHandle
end
methods (Access = {?EV3})
methods (Access = ?EV3)
function connect(sensor,commInterface)
%connect Connects Sensor-object to physical brick
......@@ -368,4 +416,3 @@ classdef Sensor < MaskedHandle
end
end
end
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