Clean up messy commit f83ac476

source/Motor.m

@@ -168,14 +168,9 @@ classdef Motor < MaskedHandle & dynamicprops
             end
 
             if motor.brakeMode_ == BrakeMode.Coast
-                motor.internalReset();
+                motor.reset();
             end
 
-%             if motor.internalTachoCount ~= 0
-%                 motor.reset();
-%             end
-
-
             % Call appropriate function in commInterface depending on limitValue and limitMode
             if motor.limitValue==0
                 if motor.sendOnStart > 0
@@ -422,8 +417,13 @@ classdef Motor < MaskedHandle & dynamicprops
             motor.commInterface.outputStop(0, motor.port+syncMotor.port, motor.brakeMode_);
             
             % On next start, both motors have to send power-opcode again
-            motor.sendPowerOnNextStart = true;
-            syncMotor.sendPowerOnNextStart = true;
+            if motor.sendPowerOnSet
+                motor.sendOnStart = bitset(motor.sendOnStart, SendOnStart.Power, 1);
+            end
+            if syncMotor.sendPowerOnSet
+                syncMotor.sendOnStart = bitset(syncMotor.sendOnStart, SendOnStart.Power, 1);
+            end
+            
             
             if motor.debug
                 fprintf('(DEBUG) Motor::stop: Called outputStop on Ports %s and %s\n.', ...
@@ -455,7 +455,7 @@ classdef Motor < MaskedHandle & dynamicprops
                        'You have to call motor.connect(commInterface) first!']);
             end
             
-            %pause(0.1);
+            pause(0.1);
             while motor.isRunning
                  pause(0.03);
             end
@@ -490,8 +490,8 @@ classdef Motor < MaskedHandle & dynamicprops
 %             end
         end
 		
-        function internalReset(motor)
-            %internalReset Resets internal tacho count
+        function reset(motor)
+            % reset Resets internal tacho count
             % Use this if motor behaves weird (i.e. not starting at all, or not correctly
             % running to limitValue)
             %
@@ -504,23 +504,22 @@ classdef Motor < MaskedHandle & dynamicprops
             %
             
             if ~motor.connectedToBrick
-                error(['Motor::internalReset: Motor-Object not connected to brick handle.',...
+                error(['Motor::reset: Motor-Object not connected to brick handle.',...
                        'You have to call motor.connect(brick) first!']);
             elseif ~motor.physicalMotorConnected
-                error('Motor::internalReset: No physical motor connected to Port %s',...
+                error('Motor::reset: No physical motor connected to Port %s',...
                        port2str('Motor', motor.port));
             end
             
             motor.commInterface.outputReset(0, motor.port);
             
             if motor.debug
-                fprintf('(DEBUG) Motor::internalReset: Called outputReset on Port %s\n',...
+                fprintf('(DEBUG) Motor::reset: Called outputReset on Port %s\n',...
                           port2str('Motor', motor.port));
             end
         end
         
         function resetTachoCount(motor)
-            
             if ~motor.connectedToBrick
                 error(['Motor::resetTachoCount: Motor-Object not connected to comm handle.',...
                        'You have to call motor.connect(commInterface) first!']);
@@ -537,28 +536,6 @@ classdef Motor < MaskedHandle & dynamicprops
             end
         end
         
-        function releaseBrake(motor)
-            if ~motor.connectedToBrick
-                error(['Motor::releaseBrake: Motor-Object not connected to comm handle.',...
-                    'You have to call motor.connect(commInterface) first!']);
-            elseif ~motor.physicalMotorConnected
-                error('Motor::releaseBrake: No physical motor connected to Port %s',...
-                       port2str('Motor', motor.port));
-            elseif motor.isRunning
-                error('Motor::releaseBrake: Can''t loose brake because Motor is runnning');
-            end
-            
-            motor.commInterface.outputPower(0, motor.port, 0);
-            motor.commInterface.outputStart(0, motor.port);
-            motor.commInterface.outputStop(0, motor.port, BrakeMode.Coast);
-            motor.sendPowerOnNextStart = true;
-        end
-        
-        function state(motor)
-            fprintf('sendPowerOnSet: %d\n', uint8(motor.sendPowerOnSet));
-            fprintf('sendOnStart: %d\n', uint8(motor.sendOnStart));
-        end
-        
         %% Setter
         function set.power(motor, power)
             if ~isnumeric(power)
@@ -583,13 +560,9 @@ classdef Motor < MaskedHandle & dynamicprops
         function set.speedRegulation(motor, speedRegulation)
             if ~isBool(speedRegulation)
                 error('Motor::set.speedRegulation: Given parameter is not a bool.');
-            elseif motor.connectedToBrick && motor.physicalMotorConnected && ...
-                    motor.currentSpeed ~= 0
-                error(['Motor::set.speedRegulation: Cannot change speed regulation while ', ...
-                       'is motor is moving.']);
             end
             
-            if any(motor.speedRegulation) && speedRegulation ~= motor.speedRegulation
+            if ~isempty(motor.speedRegulation) && speedRegulation ~= motor.speedRegulation
                 if motor.sendPowerOnSet
                     motor.sendOnStart = bitset(motor.sendOnStart, SendOnStart.Power, 1);
                 end
@@ -636,7 +609,7 @@ classdef Motor < MaskedHandle & dynamicprops
             
 %             if ~motor.init && motor.brakeMode_~=oldMode && ... 
 %                     motor.connectedToBrick && motor.physicalMotorConnected
-%                 motor.internalReset();
+%                 motor.reset();
 %             end
         end
         
@@ -659,7 +632,7 @@ classdef Motor < MaskedHandle & dynamicprops
                
             if limitValue == 0
                 motor.sendOnStart = SendOnStart.Power;
-                if any(motor.limitValue) && motor.limitValue > 0
+                if ~isempty(motor.limitValue) && motor.limitValue > 0
                     motor.sendOnStart = motor.sendOnStart + SendOnStart.Stop;
                 end
                 motor.sendPowerOnSet = true;
@@ -811,7 +784,6 @@ classdef Motor < MaskedHandle & dynamicprops
         
         function running = get.isRunning(motor)
             running = (motor.currentSpeed~=0);
-            %running = motor.commInterface.outputTest(0, motor.port);
         end
         
         function synced = get.isSynced(motor)