From 744269395b0f781832bcd495f5b0405fe21ab1b4 Mon Sep 17 00:00:00 2001
From: Tim Stadtmann <tim.stadtmann@rwth-aachen.de>
Date: Tue, 29 Nov 2016 15:46:05 +0100
Subject: [PATCH] Update format of device-docs
---
source/Motor.m | 353 +++++++++++++++++++++++++++---------------------
source/Sensor.m | 87 +++++++++---
2 files changed, 269 insertions(+), 171 deletions(-)
diff --git a/source/Motor.m b/source/Motor.m
index be281ae..c96276c 100755
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -1,122 +1,176 @@
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
diff --git a/source/Sensor.m b/source/Sensor.m
index d275d50..59132ec 100755
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -1,10 +1,57 @@
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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