diff --git a/source/Device.m b/source/Device.m
deleted file mode 100644
index ba1b61c9d75eef20d543fd42a46fa1be1cc27c47..0000000000000000000000000000000000000000
--- a/source/Device.m
+++ /dev/null
@@ -1,121 +0,0 @@
-%Device Device enumeration for the brick
-%
-% Notes::
-% - Collection of enumeration constants used for the brick
-
-classdef Device < uint8
- enumeration
- % motor types and modes
- LargeMotor (7)
- MediumMotor (8)
- MotorDegrees (0)
- MotorRotation (1)
- MotorSpeed (2)
- % motor definitions for setting and starting the motor (found in c_output.c => NOS DATA8)
- MotorA (1)
- MotorB (2)
- MotorC (4)
- MotorD (8)
- % motor definitions for reading motor data with output functions (found in c_output.c)
- % e.g. outputGetCount(...), outputRead(...) (the latter is yet to be implemented)
- MotorA_PORT (0)
- MotorB_PORT (1)
- MotorC_PORT (2)
- MotorD_PORT (3)
- % motor definitions for input functions (found in (?))
- % e.g. inputDeviceGetConnection(...), inputDeviceGetName(...), ...
- MotorA_INPUT (16)
- MotorB_INPUT (17)
- MotorC_INPUT (18)
- MotorD_INPUT (19)
- % mode of braking (found in c_output.c)
- Coast (0)
- Brake (1)
- % sensor ports (found in c_output.c)
- Port1 (0)
- Port2 (1)
- Port3 (2)
- Port4 (3)
- % LED patterns (found in bytecodes.h)
- LedBlack (0)
- LedGreen (1)
- LedRed (2)
- LedOrange (3)
- LedGreenFlash (4)
- LedRedFlash (5)
- LedOrangeFlash (6)
- LedGreenPulse (7)
- LedRedPulse (8)
- LedOrangePulse (9)
- % colors (found in bytecodes.h)
- NoColor (0)
- BlackColor (1)
- BlueColor (2)
- GreenColor (3)
- YellowColor (4)
- RedColor (5)
- WhiteColor (6)
- BrownColor (7)
- % ultrasonic sensor definitions (found in types.html)
- Ultrasonic (30)
- USDistCM (0)
- USDistIN (1)
- USListen (2)
- % gyro sensor definitions (found in types.html)
- Gyro (32)
- GyroAng (0)
- GyroRate (1)
- % touch sensor definitions (found in types.html)
- Touch (16)
- Pushed (0)
- Bumps (1)
- % color sensor definitions (found in types.html)
- Color (29)
- ColReflect (0)
- ColAmbient (1)
- ColColor (2)
- % input & output connection types (found in lms2012.h)
- ConnUnknown (111)
- ConnDaisyChain (117)
- ConnNXTColor (118)
- ConnNXTDumb (119)
- ConnNXTIIC (120)
- ConnInputDumb (121)
- ConnInputUART (122)
- ConnOutputDumb (123)
- ConnOutputIntelligent (124)
- ConnOutputTacho (125)
- ConnNone (126)
- ConnError (127)
- % NXT sound sensor definitions (found in types.html)
- Sound (3)
- SoundDB (0)
- SoundDBA (1)
- % NXT light sensor definitions (found in types.html)
- NXTLight (2)
- NXTReflect (0)
- NXTAmbient (1)
- % NXT touch sensor definitions
- NXTTouch (1)
- % NXT color sensor definitions
- NXTColor (4)
- NXTColReflect (0)
- NXTColAmbient (1)
- NXTColCol (2)
- NXTColGreen (3)
- NXTColBlue (4)
- NXTColRaw (5)
- % NXT ultrasonic sensor definitions
- NXTUltrasonic (5)
- NXTUSDistCM (0)
- NXTUSDistIN (1)
- % NXT temperature sensor definitions
- NXTTemperature (6)
- NXTTempC (0)
- NXTTempF (1)
- % additional device types
- TypeUnknown (125)
- TypeNone (126)
- TypeError (127)
- end
-end
diff --git a/source/EV3.m b/source/EV3.m
index 239698e4aa5eecd9b9df2d2d187256fec30a2428..0832ca49d3049d5c7148befe7fb378dff12e2e55 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -170,7 +170,8 @@ classdef EV3 < MaskedHandle
if ev3.isConnected
if isCommInterfaceValid(ev3.commInterface)
- error('EV3::connect: Already connected.');
+ warning('EV3::connect: Already connected. Resetting connection now...');
+ ev3.disconnect();
else
warning(['EV3::connect: EV3.isConnected is set to ''True'', but ',...
'comm handle is invalid. Deleting invalid handle and ' ,...
@@ -241,8 +242,16 @@ classdef EV3 < MaskedHandle
% b.connect('bt', 'serPort', '/dev/rfcomm0'); % |br|
% % do stuff |br|
% b.disconnect(); % |br|
-
- ev3.resetPhysicalBrick();
+
+ % Resetting needs a working connection in order to send reset-commands
+ % to the Brick. If the connection has been aborted (e.g. by pulling the
+ % USB-cord), the reset-methods would fail -> catch this error and for
+ % now do nothing.
+ try
+ ev3.resetPhysicalBrick();
+ catch ME
+ % For now: ignore
+ end
% Disconnect motors and sensors
% -> set references to comm handle to 0
@@ -432,9 +441,10 @@ classdef EV3 < MaskedHandle
warning('off', 'all'); % Turn off warnings while reading values
for i = 1:length(props)
p = props{i};
-
- if strcmp(class(ev3.(p)),'Sensor') || strcmp(class(ev3.(p)), 'Motor')
- fprintf('\t%15s [Type: %s]\n', p, char(ev3.(p).type));
+ member = ev3.(p);
+
+ if strcmp(class(member),'Sensor') || strcmp(class(member), 'Motor')
+ fprintf('\t%15s [Type: %s]\n', p, char(member.type));
end
end
warning('on', 'all');
diff --git a/source/displayProperties.m b/source/displayProperties.m
index 7b39943844cc380e259cf5628f5a6a0c5ee37ba4..3c7a8effc06ea6405ae93749063f30a77b89f940 100644
--- a/source/displayProperties.m
+++ b/source/displayProperties.m
@@ -46,15 +46,15 @@ for i = 1:length(dependentProps)
value = device.(p);
if ~isempty(enumeration(value)) % Test if parameter is enumeration
fprintf('\t%15s: %s\n', p, char(value));
- elseif isnumeric(device.(p)) || islogical(value)
+ elseif isnumeric(value) || islogical(value)
if isfloat(value)
fprintf('\t%15s: %1.1f\n', p, value);
else
fprintf('\t%15s: %d\n', p, value);
end
- elseif ischar(device.(p))
+ elseif ischar(value)
fprintf('\t%15s: %s\n', p, value);
- elseif islogical(device.(p))
+ elseif islogical(value)
end
end