diff --git a/source/BrakeMode.m b/source/BrakeMode.m
old mode 100644
new mode 100755
diff --git a/source/BrickIO.m b/source/BrickIO.m
old mode 100644
new mode 100755
diff --git a/source/ByteCodes.m b/source/ByteCodes.m
old mode 100644
new mode 100755
diff --git a/source/COMGetSubCodes.m b/source/COMGetSubCodes.m
old mode 100644
new mode 100755
diff --git a/source/COMSetSubCodes.m b/source/COMSetSubCodes.m
old mode 100644
new mode 100755
diff --git a/source/Color.m b/source/Color.m
old mode 100644
new mode 100755
diff --git a/source/Command.m b/source/Command.m
old mode 100644
new mode 100755
diff --git a/source/CommunicationInterface.m b/source/CommunicationInterface.m
old mode 100644
new mode 100755
diff --git a/source/ConnectionType.m b/source/ConnectionType.m
old mode 100644
new mode 100755
diff --git a/source/Device.m b/source/Device.m
old mode 100644
new mode 100755
diff --git a/source/DeviceMode.m b/source/DeviceMode.m
old mode 100644
new mode 100755
diff --git a/source/DeviceType.m b/source/DeviceType.m
old mode 100644
new mode 100755
diff --git a/source/EV3.m b/source/EV3.m
old mode 100644
new mode 100755
index ec1a8c08dac5b71e7b49c2429afbd70ee6ca6dc4..abe4c262544b5232cd40f3c330a92f3f112180ef
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -1,34 +1,9 @@
-classdef EV3 < handle
+classdef EV3 < MaskedHandle
% High-level class to work with physical bricks.
%
% 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.
- %
- % Properties:
- % Standard
- % motorA[,B,C,D]
- % sensor1[,2,3,4]
- % debug - Debug turned on or off
- % batteryMode - Mode for reading battery charge
- % Dependent
- % batteryValue - Current battery charge level
- % get-only
- % isConnected - Is virtual brick connected to physical one?
- % commInterface - Interface to communication layer
- %
- % Methods:
- % General
- % EV3
- % connect - Connects EV3-object and its Motors and Sensors to physical brick via bt or usb
- % disconnect - Disconnects EV3-object and its Motors and Sensors from physical brick
- % setProperties - Set multiple EV3 properties at once using MATLAB's inputParser
- % Brick functions
- % beep - Plays a 'beep' tone on brick
- % playTone - Plays tone on brick
- % stopTone - Stops tone currently played
- % tonePlayed - Tests if a tone is currently played
- %
%
% Notes
% * Creating multiple EV3 objects and connecting them to different physical bricks has not
@@ -36,89 +11,60 @@ classdef EV3 < handle
% * When referring to an instance of this class the term 'virtual brick' is used from now
% on. The LEGO EV3 brick itself is referred to as 'physical brick'.
%
- % Example
- % % This small example connects to the brick, starts motorA with power 50 and time-limit
- % % of 5 seconds. As long as it's running, sensor 1 is read and its readings are plotted
- % % the end.
- %
- %%%%%%%%%%
- % brickObject = EV3('debug', 'on', 'batteryMode', 'Voltage');
- % brickObject.connect('bt', 'serPort', '/dev/rfcomm0');
- %
- % m = brickObject.motorA;
- % s = brickObject.sensor1;
- %
- % m.setProperties('Power', 50, 'BrakeMode', 'Brake', 'TachoLimitMode', 'Time', ...
- % 'TachoLimit', 5000);
- %
- % if s.type ~= DeviceType.Color
- % fprintf('Please connect EV3-color-sensor to port 1!\n');
- % else
- % s.mode = DeviceMode.Color.Ambient;
- %
- % readings = [];
- % time = [];
- %
- % tic;
- % m.start();
- % pause(0.5);
- % while m.isRunning
- % readings = [readings, s.value];
- % time = [time toc];
- % end
- %
- % plot(time, readings);
- % end
- %
- % brickObject.disconnect();
- % brickObject.delete();
- % clear all
- %%%%%%%%%%
- %
% Signature
% Author: Tim Stadtmann
% Date: 2016/05/19
% Updated: 2016/08/15
properties % Standard properties
- %debug - Debug turned on or off
+ %debug - [Writable] Debug turned on or off (0/1/off/on/'false'/'true'/2)
% In debug mode 1 (debug=1/'on'/true), everytime a command is passed to the sublayer
% ('communication layer'), there is feedback in the console about what command has been
% called. Debug mode 2 (debug=2) enables debug mode in the lower layers. Each packet
% sent and received is printed to the console.
- % -> Any valid boolean (0/1/'on'/'off'/true/false) or 2 (for enabling debugging in
- % lower layers)
debug;
- %% Modi
-
- %batteryMode - Mode for reading battery charge
- % -> 'Percentage' / 'Voltage'
+ %batteryMode - [Writable] Mode for reading battery charge ('Percentage'/'Voltage')
% See also EV3.BATTERYVALUE
batteryMode;
end
properties (Dependent) % Parameters to be read directly from physical brick
- %batteryValue - Current battery charge
+ %batteryValue - [Read-only] Current battery charge
% Depending on batteryMode, the reading is either in percentage or voltage.
% See also EV3.BATTERYMODE
batteryValue;
end
properties (SetAccess = 'private') % Read-only properties that are set internally
- %isConnected - Virtual brick connected to physical one?
+ %isConnected - [Read-only] Virtual brick connected to physical one?
+ % See also EV3.CONNECT, EV3.DISCONNECT
isConnected = false;
-
- %% Motors and Sensors
+ %motorA - [Read-only]
+ % See also MOTOR
motorA;
+ %motorB - [Read-only]
+ % See also MOTOR
motorB;
+ %motorC - [Read-only]
+ % See also MOTOR
motorC;
+ %motorD - [Read-only]
+ % See also MOTOR
motorD;
+ %sensor1 - [Read-only]
+ % See also SENSOR
sensor1;
+ %sensor2 - [Read-only]
+ % See also SENSOR
sensor2;
+ %sensor3 - [Read-only]
+ % See also SENSOR
sensor3;
+ %sensor4 - [Read-only]
+ % See also SENSOR
sensor4;
end
@@ -466,13 +412,51 @@ classdef EV3 < handle
bat = ev3.getBattery();
end
- %% Display
function display(ev3)
- % WIP
- warning('off','all');
- builtin('disp', ev3);
- warning('on','all');
+ displayProperties(ev3);
+
+ fprintf('\n\tDevices\n');
+ props = properties(ev3);
+
+ 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));
+ end
+ end
+ warning('on', 'all');
end
+% function display(ev3)
+% warning('off','all');
+% %builtin('disp', ev3);
+%
+%
+% props = properties(ev3); % Save list with property names as strings
+% fprintf(' <a href="matlab:helpPopup EV3">EV3</a> with properties:\n\n');
+% for i = 1:length(props)
+% p = props{i};
+%
+% if isa(ev3.(p), 'handle') && ev3.(p).isvalid % Valid handle?
+% if isa(ev3.(p), 'Brick') % Communication interface?
+% fprintf('\t%15s: Brick-object (Interface for comm-layer)\n');
+% else % Motor or Sensor object?
+% fprintf('\t%15s: %s-object for port %s\n', p, class(ev3.(p)), ...
+% port2str(class(ev3.(p)), ev3.(p).port));
+% end
+% elseif isnumeric(ev3.(p))
+% fprintf('\t%15s: %d\n', p, ev3.(p));
+% elseif ischar(ev3.(p))
+% fprintf('\t%15s: %s\n', p, ev3.(p));
+% else
+% warning('EV3::display: Unsuspected parameter type.'); % Not really useful
+% end
+% end
+%
+% warning('on','all');
+%
+% end
end
methods (Access = 'private') % Private brick functions that are wrapped by dependent params
diff --git a/source/ID.m b/source/ID.m
old mode 100644
new mode 100755
diff --git a/source/InputDeviceSubCodes.m b/source/InputDeviceSubCodes.m
old mode 100644
new mode 100755
diff --git a/source/LEDPattern.m b/source/LEDPattern.m
old mode 100644
new mode 100755
diff --git a/source/MaskedHandle.m b/source/MaskedHandle.m
new file mode 100755
index 0000000000000000000000000000000000000000..4fb94bc3e8d5ce519a1648268f186fdf1bae08e9
--- /dev/null
+++ b/source/MaskedHandle.m
@@ -0,0 +1,44 @@
+classdef MaskedHandle < handle
+ methods (Hidden)
+ function addlistener(varargin)
+ addlistener@addlistener(varargin{:})
+ end
+
+ function findobj(varargin)
+ findobj@findobj(varargin{:});
+ end
+
+% function findprop(varargin)
+% findprop@findprop(varargin{:});
+% end
+
+ function notify(varargin)
+ notify@notify(varargin{:});
+ end
+
+ function ge(h1, h2)
+ ge@ge(h1, h2);
+ end
+
+ function gt(h1, h2)
+ gt@gt(h1, h2);
+ end
+
+ function le(h1, h2)
+ le@le(h1, h2);
+ end
+
+ function lt(h1, h2)
+ lt@lt(h1, h2);
+ end
+
+ function ne(h1, h2)
+ ne@ne(h1, h2);
+ end
+
+ function eq(h1, h2)
+ eq@eq(h1, h2);
+ end
+ end
+end
+
diff --git a/source/Motor.m b/source/Motor.m
old mode 100644
new mode 100755
index 8cbb720dd8bf0c0417ab22da97919353c011e58a..592ec28b178671362e47274753a822df5047b67b
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -1,44 +1,10 @@
-classdef Motor < handle & dynamicprops
+classdef Motor < MaskedHandle & dynamicprops
% Motor 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.
%
- % Properties:
- % Standard
- % power - Power level of motor in percent
- % speedRegulation - Speed regulation turned on or off
- % smoothStart - Degrees/Time for how far/long the motor should smoothly start (depends on limitMode)
- % smoothStop - Degrees/Time for how far/long the motor should smoothly stop (depends on limitMode)
- % limitValue - Degrees/Time for how far/long the motor should run (depends on limitMode)
- % limitMode - Mode for motor limit
- % brakeMode - Mode for braking
- % debug - Debug mode turned on or off
- % Dependent
- % isRunning - True if motor is running (currentSpeed > 0)
- % tachoCount - Current tacho count
- % currentSpeed - Current speed of motor (should equal power if speedRegulation = 1)
- % type - Current motor type (large or medium motor)
- % Other
- % port - Motor port
- %
- % Methods:
- % Standard
- % Motor
- % connect - Connects Motor-object to physical brick
- % disconnect - Disconnects Motor-object from physical brick
- % setProperties - Sets multiple Motor properties at once using MATLAB's inputParser
- % Brick functions
- % start - Starts the motor taking all parameters set by user into account
- % stop - Stops the motor :)
- % syncedStart - Starts the motor synchronized with another
- % syncedStop - Stops the motors previously started together with syncedStart
- % waitFor - Stops execution of program as long as motor is running with tacholimit
- % reset - Resets internal tacho count
- % resetTachoCount - Resets tacho count to 0 (if running without tacholimit)
- %
- %
% 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.
@@ -50,60 +16,65 @@ classdef Motor < handle & dynamicprops
% Updated: 2016/08/15
properties % Standard properties to be set by user
- %power - Power level of motor in percent
- % -> Any numeric in [-100, 100]
+ %power - [Writable] Power level of motor in percent (numeric in [-100, 100])
power;
- %speedRegulation - Speed regulation turned on or off
- % -> Any valid boolean (0/1/'on'/'off'/true/false)
+ %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;
- %smoothStart - Degrees/Time for how far/long the motor should smoothly start (depends on limitMode)
- % -> Any numeric in [0, limitValue]
+ %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;
- %smoothStop - Degrees/Time for how far/long the motor should smoothly stop (depends on limitMode)
- % -> Any numeric in [0, limitValue]
+ %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;
- %limitValue- Degrees/Time for how far/long the motor should run (depends on limitMode)
- % -> Any numeric >= 0 (in ms, if limitMode = 'Time')
+ %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;
- %limitMode - Mode for motor limit
- % -> 'Tacho' / 'Time'
+ %limitMode - [Writable] Mode for motor limit ('Tacho'/'Time')
+ % See also MOTOR.SMOOTHSTART, MOTOR.SMOOTHSTOP, MOTOR.LIMITMODE
limitMode;
- %brakeMode - Mode for braking
- % -> 'Brake' / 'Coast'
+ %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;
- %debug - Debug turned on or off
+ %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, etc.
- % -> Any valid boolean (0/1/'on'/'off'/true/false)
+ % there is feedback in the console about what command has been called
debug;
end
- properties (SetAccess = 'private')
- %port - 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.
- % -> 'A' / 'B' / 'C' / 'D'
- port;
- end
-
properties (Dependent) % Read-only parameters to be read directly from physical brick
- %isRunning - True if motor is running (speed > 0)
+ %isRunning - [Read-only] True if motor is running (i.e. speed > 0)
isRunning;
- %tachoCount - Current tacho count
+ %tachoCount - [Read-only] Current tacho count
tachoCount;
- %currentSpeed - Current speed of motor (equals power if speedRegulation = true)
+ %currentSpeed - [Read-only] Current speed of motor
+ % If speedRegulation=on this should equal power, otherwise it will probably be lower
+ % than that.
+ % See also MOTOR.SPEEDREGULATION
currentSpeed;
- %type - Type of connected device if any
+ %type - [Read-only] Type of connected device if any
% See also DEVICETYPE
type;
end
@@ -112,6 +83,10 @@ classdef Motor < handle & dynamicprops
commInterface; % Communication interface
%% 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;
% 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
@@ -154,7 +129,7 @@ classdef Motor < handle & dynamicprops
%% Brick functions
function start(motor)
- %start Starts the motor taking all parameters set by user into account.
+ %start Starts the motor
%
% Notes
% * Right now, alternatingly calling this function with and without tacho limit
@@ -268,7 +243,7 @@ classdef Motor < handle & dynamicprops
end
function stop(motor)
- %stop Stops the motor. :)
+ %stop Stops the motor
if ~motor.connectedToBrick
error(['Motor::stop: Motor-Object not connected to comm handle.',...
@@ -291,9 +266,9 @@ classdef Motor < handle & dynamicprops
function syncedStart(motor, syncMotor, varargin)
%syncedStart Starts this motor synchronized with another
% This motor acts as a 'master', meaning that the synchronized control is done via
- % it. When syncedStart is called, the master sets the slave's (syncMotor)
- % properties to keep it consistent with the last parameters sent to the physical
- % brick. So, for example, changing the power on the master motor will take effect
+ % 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
@@ -315,7 +290,7 @@ classdef Motor < handle & dynamicprops
% -> 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 commands, so keep that in mind
+ % connected AND aren't running, wasting four packets, so keep that in mind
%
% Example
% b = EV3(); b.connect('usb');
@@ -448,16 +423,16 @@ classdef Motor < handle & dynamicprops
end
function waitFor(motor)
- %waitFor Stops execution of program as long as motor is running (WITH TACHOLIMIT).
+ %waitFor Stops execution of program as long as motor is running
%
% Notes:
- % * This one's a bit tricky. The opCode OutputReady makes the brick stop sending
+ % * (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. To
+ % 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.
- % * OutputReady (like OutputTest in isRunning) sometimes doesn't work. If
+ % * (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).
@@ -533,13 +508,6 @@ classdef Motor < handle & dynamicprops
end
function resetTachoCount(motor)
- %resetTachoCount Resets tacho count to 0 if running without tacholimit
- % Compared to motor.reset, this resets the 'sensor mode' tacho count, a second
- % tacho counter. This counter is used for reading the tacho count with inputRead
- % and outputGetCount (via motor.tachoCount).
- %
- % See also MOTOR.RESET
- %
if ~motor.connectedToBrick
error(['Motor::resetTachoCount: Motor-Object not connected to comm handle.',...
@@ -830,9 +798,7 @@ classdef Motor < handle & dynamicprops
%% Display
function display(motor)
- warning('off','all');
- builtin('disp', motor);
- warning('on','all');
+ displayProperties(motor);
end
end
diff --git a/source/MotorBitfield.m b/source/MotorBitfield.m
old mode 100644
new mode 100755
diff --git a/source/MotorInput.m b/source/MotorInput.m
old mode 100644
new mode 100755
diff --git a/source/MotorPort.m b/source/MotorPort.m
old mode 100644
new mode 100755
diff --git a/source/OutputStreamSend.class b/source/OutputStreamSend.class
old mode 100644
new mode 100755
diff --git a/source/OutputStreamSend.java b/source/OutputStreamSend.java
old mode 100644
new mode 100755
diff --git a/source/Primitives.m b/source/Primitives.m
old mode 100644
new mode 100755
diff --git a/source/Sensor.m b/source/Sensor.m
old mode 100644
new mode 100755
index bf2c60e690c67d752a83b3581b0e69c3535cf40c..78d9ce6080bd2b7ad2bc91620b8e16abafa56dd4
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -1,72 +1,55 @@
-classdef Sensor < handle
+classdef Sensor < MaskedHandle
% Sensor High-level class to work with sensors.
%
- % Properties:
- % Standard
- % debug - Debug mode turned on or off
- % mode - Sensor mode in which the values will be read
- % Dependent
- % value - Value read from sensor
- % type - Type of connected sensor if any
- %
- % Methods:
- % Standard
- % EV3
- % connect - Connects Sensor-object to physical brick
- % disconnect - Disconnects Sensor-object from physical brick
- % reset - Resets value on sensor
- % setProperties - Sets multiple Sensor properties at once using MATLAB's inputParser
- %
- % Example
- % % This small example should only roughly demonstrate how to work with sensors.
- % % Establish connection, set properties on sensor1 and wait, until user has pressed the
- % % touch sensor ten times. Then beep and disconnect.
- %
- % b = EV3();
- % b = EV3('debug', 'on', 'batteryMode', 'Voltage');
- % b.connect('bt', 'serPort', '/dev/rfcomm0');
- % b.sensor1.mode = DeviceMode.Touch.Bumps;
- % while value < 10
- % pause(0.1);
- % end
- % b.beep();
- % b.disconnect();
- % b.delete()
- %
- %
% Signature
% Author: Tim Stadtmann
% Date: 2016/05/20
% Updated: 2016/08/15
properties % Standard properties to be set by user
- %mode - Sensor mode in which the value will be read
- % -> DeviceMode.[...] (except for DeviceMode.Motor.[...])
+ %mode - [Writable] Sensor mode in which the value will be read (DeviceMode.[...])
+ % By default, mode is set to DeviceMode.Default.Undefined. The allowed mode (and the
+ % default mode) for a Sensor-object depends on its type.
+ % 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
+ %
+ % See also SENSOR.VALUE, SENSOR.TYPE
mode;
- %debug - Debug turned on or off
+ %debug - [Writable] Debug turned on or off (0/1/'on'/'off'/'true'/'false')
% 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, etc.
- % -> Any valid boolean (0/1/'on'/'off'/'true'/'false')
debug;
end
- properties (SetAccess = 'private')
- %port - Sensor port
- % This is only the string representation of the sensor port to work with.
- % Internally, SensorPort-enums are used.
- % -> '1' / '2' / '3' / '4'
- port;
- end
-
properties (Dependent) % Parameters to be read directly from physical brick
- value; % Value read from sensor
- type; % Physical sensor connected to this port?
+ %value - [Read-only] Value read from sensor
+ % What the value represents depends on sensor.mode.
+ % See also SENSOR.MODE
+ value;
+
+ %type - [Read-only] Type of physical sensor connected to port
+ % Entering "DeviceType." + Tab will show you a list of possible types. If virtual brick
+ % is not connected to physical one, type will be DeviceType.Unknown by default.
+ type;
end
properties (Hidden, Access = 'private') % Hidden properties for internal use only
commInterface = 0; % Communication interface
+ %port - [Read-only] Sensor port ('1'/'2'/'3'/'4')
+ % This is only the string representation of the sensor port to work with.
+ % Internally, SensorPort-enums are used.
+ port;
+
%% Miscallenous flags
connectedToBrick = false; % Does (virtual) sensor-object have a valid brick-handle?
@@ -235,9 +218,7 @@ classdef Sensor < handle
%% Display
function display(sensor)
- warning('off','all');
- builtin('disp', sensor);
- warning('on','all');
+ displayProperties(sensor);
end
end
@@ -345,6 +326,7 @@ classdef Sensor < handle
'Port %d.\n'], sensor.port+1);
end
end
+
end
methods (Access = {?EV3})
diff --git a/source/SensorPort.m b/source/SensorPort.m
old mode 100644
new mode 100755
diff --git a/source/SoundSubCodes.m b/source/SoundSubCodes.m
old mode 100644
new mode 100755
diff --git a/source/SystemCommands.m b/source/SystemCommands.m
old mode 100644
new mode 100755
diff --git a/source/UIDrawSubCodes.m b/source/UIDrawSubCodes.m
old mode 100644
new mode 100755
diff --git a/source/UIReadSubCodes.m b/source/UIReadSubCodes.m
old mode 100644
new mode 100755
diff --git a/source/UIWriteSubCodes.m b/source/UIWriteSubCodes.m
old mode 100644
new mode 100755
diff --git a/source/_SyncMotor.m b/source/_SyncMotor.m
old mode 100644
new mode 100755
index 8ef432218c55fee29bc13d5a682fdfea2ad8a146..ebf110ec7c637fd376c60e35696c48763bfa69c8
--- a/source/_SyncMotor.m
+++ b/source/_SyncMotor.m
@@ -387,6 +387,13 @@ classdef SyncMotor < Motor
function portInput_sec = get.portInput_sec(motor)
portInput_sec = motor.getPortInput_sec();
end
+
+ %% Display
+ function display(syncMotor)
+ warning('off','all');
+ builtin('disp', syncMotor);
+ warning('on','all');
+ end
end
methods (Access = 'protected') % Private brick functions that are wrapped by dependent params
diff --git a/source/bitfield2input.m b/source/bitfield2input.m
old mode 100644
new mode 100755
diff --git a/source/bitfield2port.m b/source/bitfield2port.m
old mode 100644
new mode 100755
diff --git a/source/bool2str.m b/source/bool2str.m
old mode 100644
new mode 100755
diff --git a/source/brake2str.m b/source/brake2str.m
old mode 100644
new mode 100755
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
old mode 100644
new mode 100755
diff --git a/source/displayProperties.m b/source/displayProperties.m
new file mode 100755
index 0000000000000000000000000000000000000000..7b39943844cc380e259cf5628f5a6a0c5ee37ba4
--- /dev/null
+++ b/source/displayProperties.m
@@ -0,0 +1,65 @@
+function displayProperties(device)
+cl = class(device);
+if ~strcmp(cl, 'Motor') && ~strcmp(cl, 'Sensor') && ~strcmp(cl, 'EV3')
+ error('displayProperties: Invalid device given (has to Motor, Sensor or EV3');
+end
+
+warning('off','all');
+
+props = properties(device); % Save list with property names as strings
+dependentProps = {};
+
+fprintf(' <a href="matlab:helpPopup %s">%s</a> with properties:\n\n', cl, cl);
+fprintf('\tWritable\n');
+% Print writable properties, leave out all the rest, leave out all the reeeest
+for i = 1:length(props)
+ p = props{i};
+ meta = device.findprop(p);
+ if meta.Dependent == 1
+ dependentProps{end+1} = p;
+ continue;
+ elseif ~strcmp(meta.SetAccess, 'public') || ~strcmp(meta.GetAccess, 'public')
+ continue;
+ end
+
+ if ~isempty(enumeration(device.(p))) % Test if parameter is enumeration
+ fprintf('\t%15s: %s\n', p, char(device.(p)));
+ elseif isnumeric(device.(p)) || islogical(device.(p))
+ fprintf('\t%15s: %d\n', p, device.(p));
+ elseif ischar(device.(p))
+ fprintf('\t%15s: %s\n', p, device.(p));
+ else
+ %fprintf('Mep\n');
+ %error('testing');
+ end
+end
+
+fprintf('\n\tRead-only\n');
+% Print dependent properties
+for i = 1:length(dependentProps)
+ p = dependentProps{i};
+
+ if isempty(p)
+ continue;
+ end
+
+ 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)
+ if isfloat(value)
+ fprintf('\t%15s: %1.1f\n', p, value);
+ else
+ fprintf('\t%15s: %d\n', p, value);
+ end
+ elseif ischar(device.(p))
+ fprintf('\t%15s: %s\n', p, value);
+ elseif islogical(device.(p))
+
+ end
+end
+
+warning('on','all');
+
+end
+
diff --git a/source/hidapi.h b/source/hidapi.h
old mode 100644
new mode 100755
diff --git a/source/hidapi.m b/source/hidapi.m
old mode 100644
new mode 100755
diff --git a/source/hidapi32.dll b/source/hidapi32.dll
old mode 100644
new mode 100755
diff --git a/source/hidapi32_proto.m b/source/hidapi32_proto.m
old mode 100644
new mode 100755
diff --git a/source/hidapi64.dll b/source/hidapi64.dll
old mode 100644
new mode 100755
diff --git a/source/hidapi64.dylib b/source/hidapi64.dylib
old mode 100644
new mode 100755
diff --git a/source/hidapi64_proto.m b/source/hidapi64_proto.m
old mode 100644
new mode 100755
diff --git a/source/hidapi64_thunk_maci64.dylib b/source/hidapi64_thunk_maci64.dylib
old mode 100644
new mode 100755
diff --git a/source/hidapi64_thunk_pcwin64.dll b/source/hidapi64_thunk_pcwin64.dll
old mode 100644
new mode 100755
diff --git a/source/hidapi64_thunk_pcwin64.exp b/source/hidapi64_thunk_pcwin64.exp
old mode 100644
new mode 100755
diff --git a/source/hidapi64_thunk_pcwin64.lib b/source/hidapi64_thunk_pcwin64.lib
old mode 100644
new mode 100755
diff --git a/source/hidapi64_thunk_pcwin64.obj b/source/hidapi64_thunk_pcwin64.obj
old mode 100644
new mode 100755
diff --git a/source/hidapi64mac_proto.m b/source/hidapi64mac_proto.m
old mode 100644
new mode 100755
diff --git a/source/hidapi_libusb_proto.m b/source/hidapi_libusb_proto.m
old mode 100644
new mode 100755
diff --git a/source/hidapi_old.h b/source/hidapi_old.h
old mode 100644
new mode 100755
diff --git a/source/input2bitfield.m b/source/input2bitfield.m
old mode 100644
new mode 100755
diff --git a/source/input2port.m b/source/input2port.m
old mode 100644
new mode 100755
diff --git a/source/instrBrickIO.m b/source/instrBrickIO.m
old mode 100644
new mode 100755
diff --git a/source/isBool.m b/source/isBool.m
old mode 100644
new mode 100755
diff --git a/source/isCommInterfaceValid.m b/source/isCommInterfaceValid.m
old mode 100644
new mode 100755
diff --git a/source/isDeviceValid.m b/source/isDeviceValid.m
old mode 100644
new mode 100755
diff --git a/source/isModeValid.m b/source/isModeValid.m
old mode 100644
new mode 100755
diff --git a/source/isPortEnumValid.m b/source/isPortEnumValid.m
old mode 100644
new mode 100755
diff --git a/source/isPortStrValid.m b/source/isPortStrValid.m
old mode 100644
new mode 100755
diff --git a/source/isSyncedBitfield.m b/source/isSyncedBitfield.m
old mode 100644
new mode 100755
diff --git a/source/port2bitfield.m b/source/port2bitfield.m
old mode 100644
new mode 100755
diff --git a/source/port2input.m b/source/port2input.m
old mode 100644
new mode 100755
diff --git a/source/port2str.m b/source/port2str.m
old mode 100644
new mode 100755
diff --git a/source/str2PortParam.m b/source/str2PortParam.m
old mode 100644
new mode 100755
diff --git a/source/str2bool.m b/source/str2bool.m
old mode 100644
new mode 100755
diff --git a/source/str2brake.m b/source/str2brake.m
old mode 100644
new mode 100755
diff --git a/source/tb_optparse.m b/source/tb_optparse.m
old mode 100644
new mode 100755
diff --git a/source/usbBrickIO.m b/source/usbBrickIO.m
old mode 100644
new mode 100755
diff --git a/source/vmCodes.m b/source/vmCodes.m
old mode 100644
new mode 100755
diff --git a/source/wfBrickIO.m b/source/wfBrickIO.m
old mode 100644
new mode 100755