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diff --git a/docs/_build/doctrees/Motor.doctree b/docs/_build/doctrees/Motor.doctree
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diff --git a/docs/_build/doctrees/asd.doctree b/docs/_build/doctrees/asd.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..53aa4497320979052b586b7bee1da5be2f77c15e
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diff --git a/docs/_build/doctrees/btBrickIO.doctree b/docs/_build/doctrees/btBrickIO.doctree
new file mode 100644
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diff --git a/docs/_build/doctrees/environment.pickle b/docs/_build/doctrees/environment.pickle
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new file mode 100644
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diff --git a/docs/_build/doctrees/index.doctree b/docs/_build/doctrees/index.doctree
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Binary files a/docs/_build/doctrees/index.doctree and b/docs/_build/doctrees/index.doctree differ
diff --git a/docs/_build/doctrees/source.doctree b/docs/_build/doctrees/source.doctree
index 394c9ec6b794d2351e4b5aae9af01b69ff1a133e..120fbe6336980b2a288beba0c012512468d8ef9f 100644
Binary files a/docs/_build/doctrees/source.doctree and b/docs/_build/doctrees/source.doctree differ
diff --git a/docs/_build/doctrees/test.doctree b/docs/_build/doctrees/test.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..9f4d998babc5a66a3eea5e256010b5c666632ba6
Binary files /dev/null and b/docs/_build/doctrees/test.doctree differ
diff --git a/docs/_build/doctrees/usbBrickIO.doctree b/docs/_build/doctrees/usbBrickIO.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..9e985aec95f348be9b34f7f920cb58c0f1c708b5
Binary files /dev/null and b/docs/_build/doctrees/usbBrickIO.doctree differ
diff --git a/docs/_build/html/CommandLayer.html b/docs/_build/html/CommandLayer.html
index bf7d3ed0ba69fc1ea81015933ea322d4faffe29f..b955febd72e324f0af4ed08999a2a6168f6a68b8 100644
--- a/docs/_build/html/CommandLayer.html
+++ b/docs/_build/html/CommandLayer.html
@@ -31,8 +31,6 @@
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
<link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
- <link rel="next" title="CommunicationLayer" href="CommunicationLayer.html" />
- <link rel="prev" title="Sensor" href="Sensor.html" />
<meta charset='utf-8'>
<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
<meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
@@ -76,9 +74,10 @@
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
</ul>
-<ul class="current">
-<li class="toctree-l1 current"><a class="current reference internal" href="#">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
@@ -105,14 +104,6 @@
- <li>
- <a href="Sensor.html" title="Previous Chapter: Sensor"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">« Sensor</span>
- </a>
- </li>
- <li>
- <a href="CommunicationLayer.html" title="Next Chapter: CommunicationLayer"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">Communication... »</span>
- </a>
- </li>
diff --git a/docs/_build/html/CommunicationLayer.html b/docs/_build/html/CommunicationLayer.html
index be22b64c95243c213bcd89b2f7795559fcd32d4e..72af7372394b377e3420219dbaac9c6ec0cad119 100644
--- a/docs/_build/html/CommunicationLayer.html
+++ b/docs/_build/html/CommunicationLayer.html
@@ -31,7 +31,6 @@
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
<link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
- <link rel="prev" title="CommandLayer" href="CommandLayer.html" />
<meta charset='utf-8'>
<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
<meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
@@ -75,9 +74,10 @@
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
</ul>
-<ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">CommunicationLayer</a></li>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
@@ -104,10 +104,6 @@
- <li>
- <a href="CommandLayer.html" title="Previous Chapter: CommandLayer"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">« CommandLayer</span>
- </a>
- </li>
diff --git a/docs/_build/html/EV3.html b/docs/_build/html/EV3.html
index 7f30eca689a28b2a910b53e71062e018a8f89f4e..6e2a34b674cc843b0584a3772153dcca782b0560 100644
--- a/docs/_build/html/EV3.html
+++ b/docs/_build/html/EV3.html
@@ -77,8 +77,9 @@
<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
</ul>
<ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
@@ -315,7 +316,7 @@ b.disconnect(); % <br /></p>
<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
<li><strong>volume</strong> (<em>numeric in [0, 100]</em>) – in percent</li>
<li><strong>frequency</strong> (<em>numeric in [250, 10000]</em>) – in Hertz</li>
-<li><strong>duration</strong> (<em>numeric >0</em>) – in milliseconds</li>
+<li><strong>duration</strong> (<em>numeric > 0</em>) – in milliseconds</li>
</ul>
</td>
</tr>
diff --git a/docs/_build/html/Motor.html b/docs/_build/html/Motor.html
index 32b86f1ff907d8583ba74172acb8fe38122417c3..fef8e5c7289608c43f5c64d78ae595daa2dcb65f 100644
--- a/docs/_build/html/Motor.html
+++ b/docs/_build/html/Motor.html
@@ -77,8 +77,9 @@
<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
</ul>
<ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
diff --git a/docs/_build/html/Sensor.html b/docs/_build/html/Sensor.html
index a22da31f2abfb12d57fd357ce576b87e896155c6..0b01eea7504ee09929d70cc236077225e870911a 100644
--- a/docs/_build/html/Sensor.html
+++ b/docs/_build/html/Sensor.html
@@ -31,7 +31,7 @@
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
<link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
- <link rel="next" title="CommandLayer" href="CommandLayer.html" />
+ <link rel="next" title="hidapi" href="hid.html" />
<link rel="prev" title="Motor" href="Motor.html" />
<meta charset='utf-8'>
<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
@@ -77,8 +77,9 @@
<li class="toctree-l1 current"><a class="current reference internal" href="#">Sensor</a></li>
</ul>
<ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
@@ -106,7 +107,7 @@
</a>
</li>
<li>
- <a href="CommandLayer.html" title="Next Chapter: CommandLayer"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">CommandLayer »</span>
+ <a href="hid.html" title="Next Chapter: hidapi"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">hidapi »</span>
</a>
</li>
diff --git a/docs/_build/html/_sources/asd.txt b/docs/_build/html/_sources/asd.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/docs/_build/html/_sources/btBrickIO.txt b/docs/_build/html/_sources/btBrickIO.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e076d50dc1c141aef7ed955e216f4b3a438723c
--- /dev/null
+++ b/docs/_build/html/_sources/btBrickIO.txt
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+
+ <br />
+btBrickIO
+=========
+
+.. autoclass:: btBrickIO
+ :members: open, close, read, write, setProperties
diff --git a/docs/_build/html/_sources/hid.txt b/docs/_build/html/_sources/hid.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a81e179691da5a39122479c305bd02a5f82a5619
--- /dev/null
+++ b/docs/_build/html/_sources/hid.txt
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+
+ <br />
+hidapi
+======
+
+.. autoclass:: hidapi
+ :members: open, close, read, read_timeout, write, getHIDInfoString, setNonBlocking, init, exit, error, enumerate, getManufacturersString, getProductString, getSerialNumberString
diff --git a/docs/_build/html/_sources/index.txt b/docs/_build/html/_sources/index.txt
index a75f04ace42e9750f8f5f8213320a304c343fd57..157a890c15b3b897ca5e3259d9f5fbe22c3fe0fe 100644
--- a/docs/_build/html/_sources/index.txt
+++ b/docs/_build/html/_sources/index.txt
@@ -45,8 +45,9 @@ Toolbox documentation
Advanced
.. toctree::
- :maxdepth: 2
-
- CommandLayer.rst
- CommunicationLayer.rst
-
+ :maxdepth: 3
+
+ hid
+ usbBrickIO
+ btBrickIO
+
diff --git a/docs/_build/html/_sources/test.txt b/docs/_build/html/_sources/test.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a81e179691da5a39122479c305bd02a5f82a5619
--- /dev/null
+++ b/docs/_build/html/_sources/test.txt
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+
+ <br />
+hidapi
+======
+
+.. autoclass:: hidapi
+ :members: open, close, read, read_timeout, write, getHIDInfoString, setNonBlocking, init, exit, error, enumerate, getManufacturersString, getProductString, getSerialNumberString
diff --git a/docs/_build/html/_sources/usbBrickIO.txt b/docs/_build/html/_sources/usbBrickIO.txt
new file mode 100644
index 0000000000000000000000000000000000000000..785bdc9777327560b7982902df1a9df17ffb2cc9
--- /dev/null
+++ b/docs/_build/html/_sources/usbBrickIO.txt
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+
+ <br />
+usbBrickIO
+==========
+
+.. autoclass:: usbBrickIO
+ :members: open, close, read, write, setProperties
diff --git a/docs/_build/html/asd.html b/docs/_build/html/asd.html
new file mode 100644
index 0000000000000000000000000000000000000000..d0a257d4778fb87d4c0845ed7f956761a1cf8da5
--- /dev/null
+++ b/docs/_build/html/asd.html
@@ -0,0 +1,151 @@
+<!DOCTYPE html>
+
+
+<html xmlns="http://www.w3.org/1999/xhtml">
+ <head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+
+ <title><no title> — Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
+
+ <link rel="stylesheet" href="_static/basic.css" type="text/css" />
+ <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+ <link rel="stylesheet" href="_static/bootswatch-3.3.6/readable/bootstrap.min.css" type="text/css" />
+ <link rel="stylesheet" href="_static/bootstrap-sphinx.css" type="text/css" />
+
+ <script type="text/javascript">
+ var DOCUMENTATION_OPTIONS = {
+ URL_ROOT: './',
+ VERSION: 'v0.4-rc.10',
+ COLLAPSE_INDEX: false,
+ FILE_SUFFIX: '.html',
+ HAS_SOURCE: true
+ };
+ </script>
+ <script type="text/javascript" src="_static/jquery.js"></script>
+ <script type="text/javascript" src="_static/underscore.js"></script>
+ <script type="text/javascript" src="_static/doctools.js"></script>
+ <script type="text/javascript" src="_static/js/jquery-1.11.0.min.js"></script>
+ <script type="text/javascript" src="_static/js/jquery-fix.js"></script>
+ <script type="text/javascript" src="_static/bootstrap-3.3.6/js/bootstrap.min.js"></script>
+ <script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
+ <link rel="index" title="Index" href="genindex.html" />
+ <link rel="search" title="Search" href="search.html" />
+ <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
+<meta charset='utf-8'>
+<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
+<meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
+<meta name="apple-mobile-web-app-capable" content="yes">
+
+ </head>
+ <body role="document">
+
+ <div id="navbar" class="navbar navbar-default navbar-fixed-top">
+ <div class="container">
+ <div class="navbar-header">
+ <!-- .btn-navbar is used as the toggle for collapsed navbar content -->
+ <button type="button" class="navbar-toggle" data-toggle="collapse" data-target=".nav-collapse">
+ <span class="icon-bar"></span>
+ <span class="icon-bar"></span>
+ <span class="icon-bar"></span>
+ </button>
+ <a class="navbar-brand" href="index.html">
+ Mindstorms EV3 Toolbox</a>
+ <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
+ </div>
+
+ <div class="collapse navbar-collapse nav-collapse">
+ <ul class="nav navbar-nav">
+
+
+ <li class="dropdown globaltoc-container">
+ <a role="button"
+ id="dLabelGlobalToc"
+ data-toggle="dropdown"
+ data-target="#"
+ href="index.html">Site <b class="caret"></b></a>
+ <ul class="dropdown-menu globaltoc"
+ role="menu"
+ aria-labelledby="dLabelGlobalToc"><ul>
+<li class="toctree-l1"><a class="reference internal" href="readme.html">General</a></li>
+<li class="toctree-l1"><a class="reference internal" href="examples.html">Examples</a></li>
+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="EV3.html">EV3</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
+</ul>
+</ul>
+</li>
+
+ <li class="dropdown">
+ <a role="button"
+ id="dLabelLocalToc"
+ data-toggle="dropdown"
+ data-target="#"
+ href="#">Page <b class="caret"></b></a>
+ <ul class="dropdown-menu localtoc"
+ role="menu"
+ aria-labelledby="dLabelLocalToc"><ul class="simple">
+</ul>
+</ul>
+</li>
+
+
+
+
+
+
+
+
+
+
+ <li class="hidden-sm">
+<div id="sourcelink">
+ <a href="_sources/asd.txt"
+ rel="nofollow">Source</a>
+</div></li>
+
+ </ul>
+
+
+
+<form class="navbar-form navbar-right" action="search.html" method="get">
+ <div class="form-group">
+ <input type="text" name="q" class="form-control" placeholder="Search" />
+ </div>
+ <input type="hidden" name="check_keywords" value="yes" />
+ <input type="hidden" name="area" value="default" />
+</form>
+
+ </div>
+ </div>
+ </div>
+
+<div class="container">
+ <div class="row">
+ <div class="col-md-12 content">
+
+
+
+ </div>
+
+ </div>
+</div>
+<footer class="footer">
+ <div class="container">
+ <p class="pull-right">
+ <a href="#">Back to top</a>
+
+ </p>
+ <p>
+ © Copyright 2016, LfB - RWTH Aachen.<br/>
+ Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
+ </p>
+ </div>
+</footer>
+ </body>
+</html>
\ No newline at end of file
diff --git a/docs/_build/html/btBrickIO.html b/docs/_build/html/btBrickIO.html
new file mode 100644
index 0000000000000000000000000000000000000000..d0f42928462ae8a40faeb5609cb4a918026b2872
--- /dev/null
+++ b/docs/_build/html/btBrickIO.html
@@ -0,0 +1,279 @@
+<!DOCTYPE html>
+
+
+<html xmlns="http://www.w3.org/1999/xhtml">
+ <head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+
+ <title>btBrickIO — Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
+
+ <link rel="stylesheet" href="_static/basic.css" type="text/css" />
+ <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+ <link rel="stylesheet" href="_static/bootswatch-3.3.6/readable/bootstrap.min.css" type="text/css" />
+ <link rel="stylesheet" href="_static/bootstrap-sphinx.css" type="text/css" />
+
+ <script type="text/javascript">
+ var DOCUMENTATION_OPTIONS = {
+ URL_ROOT: './',
+ VERSION: 'v0.4-rc.10',
+ COLLAPSE_INDEX: false,
+ FILE_SUFFIX: '.html',
+ HAS_SOURCE: true
+ };
+ </script>
+ <script type="text/javascript" src="_static/jquery.js"></script>
+ <script type="text/javascript" src="_static/underscore.js"></script>
+ <script type="text/javascript" src="_static/doctools.js"></script>
+ <script type="text/javascript" src="_static/js/jquery-1.11.0.min.js"></script>
+ <script type="text/javascript" src="_static/js/jquery-fix.js"></script>
+ <script type="text/javascript" src="_static/bootstrap-3.3.6/js/bootstrap.min.js"></script>
+ <script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
+ <link rel="index" title="Index" href="genindex.html" />
+ <link rel="search" title="Search" href="search.html" />
+ <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
+ <link rel="prev" title="usbBrickIO" href="usbBrickIO.html" />
+<meta charset='utf-8'>
+<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
+<meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
+<meta name="apple-mobile-web-app-capable" content="yes">
+
+ </head>
+ <body role="document">
+
+ <div id="navbar" class="navbar navbar-default navbar-fixed-top">
+ <div class="container">
+ <div class="navbar-header">
+ <!-- .btn-navbar is used as the toggle for collapsed navbar content -->
+ <button type="button" class="navbar-toggle" data-toggle="collapse" data-target=".nav-collapse">
+ <span class="icon-bar"></span>
+ <span class="icon-bar"></span>
+ <span class="icon-bar"></span>
+ </button>
+ <a class="navbar-brand" href="index.html">
+ Mindstorms EV3 Toolbox</a>
+ <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
+ </div>
+
+ <div class="collapse navbar-collapse nav-collapse">
+ <ul class="nav navbar-nav">
+
+
+ <li class="dropdown globaltoc-container">
+ <a role="button"
+ id="dLabelGlobalToc"
+ data-toggle="dropdown"
+ data-target="#"
+ href="index.html">Site <b class="caret"></b></a>
+ <ul class="dropdown-menu globaltoc"
+ role="menu"
+ aria-labelledby="dLabelGlobalToc"><ul>
+<li class="toctree-l1"><a class="reference internal" href="readme.html">General</a></li>
+<li class="toctree-l1"><a class="reference internal" href="examples.html">Examples</a></li>
+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="EV3.html">EV3</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
+</ul>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">btBrickIO</a></li>
+</ul>
+</ul>
+</li>
+
+ <li class="dropdown">
+ <a role="button"
+ id="dLabelLocalToc"
+ data-toggle="dropdown"
+ data-target="#"
+ href="#">Page <b class="caret"></b></a>
+ <ul class="dropdown-menu localtoc"
+ role="menu"
+ aria-labelledby="dLabelLocalToc"><ul>
+<li><a class="reference internal" href="#">btBrickIO</a></li>
+</ul>
+</ul>
+</li>
+
+
+
+
+
+ <li>
+ <a href="usbBrickIO.html" title="Previous Chapter: usbBrickIO"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">« usbBrickIO</span>
+ </a>
+ </li>
+
+
+
+
+
+ <li class="hidden-sm">
+<div id="sourcelink">
+ <a href="_sources/btBrickIO.txt"
+ rel="nofollow">Source</a>
+</div></li>
+
+ </ul>
+
+
+
+<form class="navbar-form navbar-right" action="search.html" method="get">
+ <div class="form-group">
+ <input type="text" name="q" class="form-control" placeholder="Search" />
+ </div>
+ <input type="hidden" name="check_keywords" value="yes" />
+ <input type="hidden" name="area" value="default" />
+</form>
+
+ </div>
+ </div>
+ </div>
+
+<div class="container">
+ <div class="row">
+ <div class="col-md-12 content">
+
+ <span class="target" id="module-source"></span><div class="section" id="btbrickio">
+<h1>btBrickIO<a class="headerlink" href="#btbrickio" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.btBrickIO">
+<em class="property">class </em><code class="descname">btBrickIO</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO" title="Permalink to this definition">¶</a></dt>
+<dd><p>Bluetooth interface between MATLAB and the brick</p>
+<p class="rubric">Notes</p>
+<ul>
+<li><p class="first">Connects to the bluetooth module on the host through a serial
+connection. Hence be sure that a serial connection to the bluetooth
+module can be made. Also be sure that the bluetooth module has been paired
+to the brick before trying to connect.</p>
+</li>
+<li><dl class="first docutils">
+<dt>Usage is OS-dependent:</dt>
+<dd><ul class="first last simple">
+<li>Windows: the deviceName- & channel-properties are needed for connection. The implementation is based on the Instrument Control toolbox.</li>
+<li>Linux (and potentially Mac): serialPort-property is needed for connection. The implementation is based on MATLAB's serial port implementation.</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><p class="first">For general information, see also <code class="xref mat mat-class docutils literal"><span class="pre">BrickIO</span></code>.</p>
+</li>
+</ul>
+<dl class="attribute">
+<dt id="source.btBrickIO.debug">
+<code class="descname">debug</code><a class="headerlink" href="#source.btBrickIO.debug" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> – If true, each open/close/read/write-call will be shown in the console.
+Defaults to false.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.btBrickIO.serialPort">
+<code class="descname">serialPort</code><a class="headerlink" href="#source.btBrickIO.serialPort" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> – Path to the serial-port object. Only needed when using MATLAB's
+serial class (i.e. on linux/mac). Defaults to '/dev/rfcomm0'.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.btBrickIO.deviceName">
+<code class="descname">deviceName</code><a class="headerlink" href="#source.btBrickIO.deviceName" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> – Name of the BT-device = the brick. Only needed when using the
+Instrument Control toolbox (i.e. on windows). Defaults to 'EV3'.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.btBrickIO.channel">
+<code class="descname">channel</code><a class="headerlink" href="#source.btBrickIO.channel" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric > 0</em> – BT-channel of the connected BT-device. Only needed when using
+the Instrument Control toolbox (i.e. on windows). Defaults to 1.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.btBrickIO.timeOut">
+<code class="descname">timeOut</code><a class="headerlink" href="#source.btBrickIO.timeOut" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric >= 0</em> – seconds after which a timeout-error occurs if no packet could be
+read. Defaults to 10.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.btBrickIO.backend">
+<code class="descname">backend</code><a class="headerlink" href="#source.btBrickIO.backend" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>'serial'|'instrumentControl'</em> – Backend this implementation is based on. Is
+automatically chosen depending on the OS. Defaults to 'serial' on linux/mac
+systems, and to 'instrumentControl' on windows systems.</p>
+</dd></dl>
+
+<p class="rubric">Examples</p>
+<p>% Connecting on windows <br />
+commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1); % <br />
+% Connecting on windows using MATLABs default serial port implementation for testing <br />
+commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1, 'backend', 'serial'); % <br />
+% Connecting on mac/linux <br />
+commHandle = btBrickIO('serPort', '/dev/rfcomm0'); % <br /></p>
+<dl class="method">
+<dt id="source.btBrickIO.close">
+<code class="descname">close</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO.close" title="Permalink to this definition">¶</a></dt>
+<dd><p>Closes the bluetooth connection the brick using fclose.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.btBrickIO.open">
+<code class="descname">open</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO.open" title="Permalink to this definition">¶</a></dt>
+<dd><p>Opens the bluetooth connection to the brick using fopen.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.btBrickIO.read">
+<code class="descname">read</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO.read" title="Permalink to this definition">¶</a></dt>
+<dd><p>Reads data from the brick through bluetooth via fread and returns the data in uint8 format.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.btBrickIO.setProperties">
+<code class="descname">setProperties</code><span class="sig-paren">(</span><em>brickIO</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO.setProperties" title="Permalink to this definition">¶</a></dt>
+<dd><p>Sets multiple btBrickIO properties at once using MATLAB's inputParser.</p>
+<p>The syntax is as follows: commHandle.setProperties('propertyName1',
+propertyValue1, 'propertyName2', propertyValue2, ...). Valid, optional properties
+are: debug, serPort, deviceName, channel, timeout.</p>
+<p>See also BTBRICKIO.DEBUG, BTBRICKIO.SERIALPORT, BTBRICKIO.DEVICENAME,
+BTBRICKIO.CHANNEL, BTBRICKIO.TIMEOUT</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.btBrickIO.write">
+<code class="descname">write</code><span class="sig-paren">(</span><em>brickIO</em>, <em>wmsg</em><span class="sig-paren">)</span><a class="headerlink" href="#source.btBrickIO.write" title="Permalink to this definition">¶</a></dt>
+<dd><p>Writes data to the brick through bluetooth via fwrite.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>wmsg</strong> (<em>uint8 array</em>) – Data to be written to the brick via bluetooth</td>
+</tr>
+</tbody>
+</table>
+</dd></dl>
+
+</dd></dl>
+
+</div>
+
+
+ </div>
+
+ </div>
+</div>
+<footer class="footer">
+ <div class="container">
+ <p class="pull-right">
+ <a href="#">Back to top</a>
+
+ </p>
+ <p>
+ © Copyright 2016, LfB - RWTH Aachen.<br/>
+ Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
+ </p>
+ </div>
+</footer>
+ </body>
+</html>
\ No newline at end of file
diff --git a/docs/_build/html/examples.html b/docs/_build/html/examples.html
index b12382444dbc5e559f2b636110bcd7445f787e69..e3923d5ea81c24d428ff44d7588a4fcb485dc1aa 100644
--- a/docs/_build/html/examples.html
+++ b/docs/_build/html/examples.html
@@ -79,6 +79,8 @@
<ul>
<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
diff --git a/docs/_build/html/genindex.html b/docs/_build/html/genindex.html
index f905277e3d9ad00cc2b6f9e9c489b60dc4347ac4..823964d32ed6f43943cf41957c512931dade0dbf 100644
--- a/docs/_build/html/genindex.html
+++ b/docs/_build/html/genindex.html
@@ -76,8 +76,9 @@
<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
</ul>
<ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
@@ -132,13 +133,18 @@
| <a href="#C"><strong>C</strong></a>
| <a href="#D"><strong>D</strong></a>
| <a href="#E"><strong>E</strong></a>
+ | <a href="#G"><strong>G</strong></a>
+ | <a href="#H"><strong>H</strong></a>
| <a href="#I"><strong>I</strong></a>
| <a href="#L"><strong>L</strong></a>
| <a href="#M"><strong>M</strong></a>
+ | <a href="#N"><strong>N</strong></a>
+ | <a href="#O"><strong>O</strong></a>
| <a href="#P"><strong>P</strong></a>
| <a href="#R"><strong>R</strong></a>
| <a href="#S"><strong>S</strong></a>
| <a href="#T"><strong>T</strong></a>
+ | <a href="#U"><strong>U</strong></a>
| <a href="#V"><strong>V</strong></a>
| <a href="#W"><strong>W</strong></a>
@@ -147,6 +153,10 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
+ <dt><a href="btBrickIO.html#source.btBrickIO.backend">backend (source.btBrickIO attribute)</a>
+ </dt>
+
+
<dt><a href="EV3.html#source.EV3.batteryMode">batteryMode (source.EV3 attribute)</a>, <a href="source.html#source.EV3.batteryMode">[1]</a>
</dt>
@@ -164,6 +174,10 @@
<dt><a href="Motor.html#source.Motor.brakeMode">brakeMode (source.Motor attribute)</a>
</dt>
+
+ <dt><a href="btBrickIO.html#source.btBrickIO">btBrickIO (class in source)</a>
+ </dt>
+
</dl></td>
</tr></table>
@@ -171,12 +185,30 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="EV3.html#source.EV3.connect">connect() (source.EV3 method)</a>, <a href="source.html#source.EV3.connect">[1]</a>
+ <dt><a href="btBrickIO.html#source.btBrickIO.channel">channel (source.btBrickIO attribute)</a>
</dt>
+
+ <dt><a href="btBrickIO.html#source.btBrickIO.close">close() (source.btBrickIO method)</a>
+ </dt>
+
+ <dd><dl>
+
+ <dt><a href="hid.html#source.hidapi.close">(source.hidapi method)</a>
+ </dt>
+
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.close">(source.usbBrickIO method)</a>
+ </dt>
+
+ </dl></dd>
</dl></td>
<td style="width: 33%" valign="top"><dl>
+ <dt><a href="EV3.html#source.EV3.connect">connect() (source.EV3 method)</a>, <a href="source.html#source.EV3.connect">[1]</a>
+ </dt>
+
+
<dt><a href="Motor.html#source.Motor.currentSpeed">currentSpeed (source.Motor attribute)</a>
</dt>
@@ -187,11 +219,15 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="EV3.html#source.EV3.debug">debug (source.EV3 attribute)</a>, <a href="source.html#source.EV3.debug">[1]</a>
+ <dt><a href="btBrickIO.html#source.btBrickIO.debug">debug (source.btBrickIO attribute)</a>
</dt>
<dd><dl>
+ <dt><a href="EV3.html#source.EV3.debug">(source.EV3 attribute)</a>, <a href="source.html#source.EV3.debug">[1]</a>
+ </dt>
+
+
<dt><a href="Motor.html#source.Motor.debug">(source.Motor attribute)</a>
</dt>
@@ -199,10 +235,18 @@
<dt><a href="Sensor.html#source.Sensor.debug">(source.Sensor attribute)</a>
</dt>
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.debug">(source.usbBrickIO attribute)</a>
+ </dt>
+
</dl></dd>
</dl></td>
<td style="width: 33%" valign="top"><dl>
+ <dt><a href="btBrickIO.html#source.btBrickIO.deviceName">deviceName (source.btBrickIO attribute)</a>
+ </dt>
+
+
<dt><a href="EV3.html#source.EV3.disconnect">disconnect() (source.EV3 method)</a>, <a href="source.html#source.EV3.disconnect">[1]</a>
</dt>
@@ -213,9 +257,63 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
+ <dt><a href="hid.html#source.hidapi.enumerate">enumerate() (source.hidapi method)</a>
+ </dt>
+
+
+ <dt><a href="hid.html#source.hidapi.error">error() (source.hidapi method)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
<dt><a href="EV3.html#source.EV3">EV3 (class in source)</a>, <a href="source.html#source.EV3">[1]</a>
</dt>
+
+ <dt><a href="hid.html#source.hidapi.exit">exit() (source.hidapi method)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="G">G</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="hid.html#source.hidapi.getHIDInfoString">getHIDInfoString() (source.hidapi method)</a>
+ </dt>
+
+
+ <dt><a href="hid.html#source.hidapi.getManufacturersString">getManufacturersString() (source.hidapi method)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="hid.html#source.hidapi.getProductString">getProductString() (source.hidapi method)</a>
+ </dt>
+
+
+ <dt><a href="hid.html#source.hidapi.getSerialNumberString">getSerialNumberString() (source.hidapi method)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
+<h2 id="H">H</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="hid.html#source.hidapi.handle">handle (source.hidapi attribute)</a>
+ </dt>
+
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="hid.html#source.hidapi">hidapi (class in source)</a>
+ </dt>
+
</dl></td>
</tr></table>
@@ -223,6 +321,10 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
+ <dt><a href="hid.html#source.hidapi.init">init() (source.hidapi method)</a>
+ </dt>
+
+
<dt><a href="Motor.html#source.Motor.internalReset">internalReset() (source.Motor method)</a>
</dt>
@@ -287,6 +389,54 @@
</dl></td>
</tr></table>
+<h2 id="N">N</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="hid.html#source.hidapi.nReadBuffer">nReadBuffer (source.hidapi attribute)</a>
+ </dt>
+
+ <dd><dl>
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.nReadBuffer">(source.usbBrickIO attribute)</a>
+ </dt>
+
+ </dl></dd>
+ </dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="hid.html#source.hidapi.nWriteBuffer">nWriteBuffer (source.hidapi attribute)</a>
+ </dt>
+
+ <dd><dl>
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.nWriteBuffer">(source.usbBrickIO attribute)</a>
+ </dt>
+
+ </dl></dd>
+ </dl></td>
+</tr></table>
+
+<h2 id="O">O</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="btBrickIO.html#source.btBrickIO.open">open() (source.btBrickIO method)</a>
+ </dt>
+
+ <dd><dl>
+
+ <dt><a href="hid.html#source.hidapi.open">(source.hidapi method)</a>
+ </dt>
+
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.open">(source.usbBrickIO method)</a>
+ </dt>
+
+ </dl></dd>
+ </dl></td>
+</tr></table>
+
<h2 id="P">P</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
@@ -294,12 +444,22 @@
<dt><a href="EV3.html#source.EV3.playTone">playTone() (source.EV3 method)</a>, <a href="source.html#source.EV3.playTone">[1]</a>
</dt>
+
+ <dt><a href="Motor.html#source.Motor.power">power (source.Motor attribute)</a>
+ </dt>
+
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="Motor.html#source.Motor.power">power (source.Motor attribute)</a>
+ <dt><a href="hid.html#source.hidapi.productID">productID (source.hidapi attribute)</a>
+ </dt>
+
+ <dd><dl>
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.productID">(source.usbBrickIO attribute)</a>
</dt>
+ </dl></dd>
</dl></td>
</tr></table>
@@ -307,12 +467,30 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="Sensor.html#source.Sensor.reset">reset() (source.Sensor method)</a>
+ <dt><a href="btBrickIO.html#source.btBrickIO.read">read() (source.btBrickIO method)</a>
</dt>
+ <dd><dl>
+
+ <dt><a href="hid.html#source.hidapi.read">(source.hidapi method)</a>
+ </dt>
+
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.read">(source.usbBrickIO method)</a>
+ </dt>
+
+ </dl></dd>
</dl></td>
<td style="width: 33%" valign="top"><dl>
+ <dt><a href="hid.html#source.hidapi.read_timeout">read_timeout() (source.hidapi method)</a>
+ </dt>
+
+
+ <dt><a href="Sensor.html#source.Sensor.reset">reset() (source.Sensor method)</a>
+ </dt>
+
+
<dt><a href="Motor.html#source.Motor.resetTachoCount">resetTachoCount() (source.Motor method)</a>
</dt>
@@ -343,15 +521,27 @@
</dt>
+ <dt><a href="btBrickIO.html#source.btBrickIO.serialPort">serialPort (source.btBrickIO attribute)</a>
+ </dt>
+
+
<dt><a href="Motor.html#source.Motor.setBrake">setBrake() (source.Motor method)</a>
</dt>
- <dt><a href="EV3.html#source.EV3.setProperties">setProperties() (source.EV3 method)</a>, <a href="source.html#source.EV3.setProperties">[1]</a>
+ <dt><a href="hid.html#source.hidapi.setNonBlocking">setNonBlocking() (source.hidapi method)</a>
+ </dt>
+
+
+ <dt><a href="btBrickIO.html#source.btBrickIO.setProperties">setProperties() (source.btBrickIO method)</a>
</dt>
<dd><dl>
+ <dt><a href="EV3.html#source.EV3.setProperties">(source.EV3 method)</a>, <a href="source.html#source.EV3.setProperties">[1]</a>
+ </dt>
+
+
<dt><a href="Motor.html#source.Motor.setProperties">(source.Motor method)</a>
</dt>
@@ -359,10 +549,22 @@
<dt><a href="Sensor.html#source.Sensor.setProperties">(source.Sensor method)</a>
</dt>
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.setProperties">(source.usbBrickIO method)</a>
+ </dt>
+
</dl></dd>
</dl></td>
<td style="width: 33%" valign="top"><dl>
+ <dt><a href="hid.html#source.hidapi.sheader">sheader (source.hidapi attribute)</a>
+ </dt>
+
+
+ <dt><a href="hid.html#source.hidapi.slib">slib (source.hidapi attribute)</a>
+ </dt>
+
+
<dt><a href="Motor.html#source.Motor.smoothStart">smoothStart (source.Motor attribute)</a>
</dt>
@@ -371,7 +573,7 @@
</dt>
- <dt><a href="CommandLayer.html#module-source">source (module)</a>, <a href="CommunicationLayer.html#module-source">[1]</a>, <a href="EV3.html#module-source">[2]</a>, <a href="Motor.html#module-source">[3]</a>, <a href="Sensor.html#module-source">[4]</a>, <a href="source.html#module-source">[5]</a>
+ <dt><a href="CommandLayer.html#module-source">source (module)</a>, <a href="CommunicationLayer.html#module-source">[1]</a>, <a href="EV3.html#module-source">[2]</a>, <a href="Motor.html#module-source">[3]</a>, <a href="Sensor.html#module-source">[4]</a>, <a href="btBrickIO.html#module-source">[5]</a>, <a href="hid.html#module-source">[6]</a>, <a href="source.html#module-source">[7]</a>, <a href="usbBrickIO.html#module-source">[8]</a>
</dt>
@@ -413,12 +615,22 @@
</dt>
- <dt><a href="EV3.html#source.EV3.tonePlayed">tonePlayed() (source.EV3 method)</a>, <a href="source.html#source.EV3.tonePlayed">[1]</a>
+ <dt><a href="btBrickIO.html#source.btBrickIO.timeOut">timeOut (source.btBrickIO attribute)</a>
</dt>
+ <dd><dl>
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.timeOut">(source.usbBrickIO attribute)</a>
+ </dt>
+
+ </dl></dd>
</dl></td>
<td style="width: 33%" valign="top"><dl>
+ <dt><a href="EV3.html#source.EV3.tonePlayed">tonePlayed() (source.EV3 method)</a>, <a href="source.html#source.EV3.tonePlayed">[1]</a>
+ </dt>
+
+
<dt><a href="Motor.html#source.Motor.type">type (source.Motor attribute)</a>
</dt>
@@ -431,6 +643,16 @@
</dl></td>
</tr></table>
+<h2 id="U">U</h2>
+<table style="width: 100%" class="indextable genindextable"><tr>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO">usbBrickIO (class in source)</a>
+ </dt>
+
+ </dl></td>
+</tr></table>
+
<h2 id="V">V</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
@@ -439,6 +661,18 @@
</dt>
</dl></td>
+ <td style="width: 33%" valign="top"><dl>
+
+ <dt><a href="hid.html#source.hidapi.vendorID">vendorID (source.hidapi attribute)</a>
+ </dt>
+
+ <dd><dl>
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.vendorID">(source.usbBrickIO attribute)</a>
+ </dt>
+
+ </dl></dd>
+ </dl></td>
</tr></table>
<h2 id="W">W</h2>
@@ -448,6 +682,20 @@
<dt><a href="Motor.html#source.Motor.waitFor">waitFor() (source.Motor method)</a>
</dt>
+
+ <dt><a href="btBrickIO.html#source.btBrickIO.write">write() (source.btBrickIO method)</a>
+ </dt>
+
+ <dd><dl>
+
+ <dt><a href="hid.html#source.hidapi.write">(source.hidapi method)</a>
+ </dt>
+
+
+ <dt><a href="usbBrickIO.html#source.usbBrickIO.write">(source.usbBrickIO method)</a>
+ </dt>
+
+ </dl></dd>
</dl></td>
</tr></table>
diff --git a/docs/_build/html/hid.html b/docs/_build/html/hid.html
new file mode 100644
index 0000000000000000000000000000000000000000..702479f45ee7c7bf1863b281c7a1900bdb854550
--- /dev/null
+++ b/docs/_build/html/hid.html
@@ -0,0 +1,445 @@
+<!DOCTYPE html>
+
+
+<html xmlns="http://www.w3.org/1999/xhtml">
+ <head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+
+ <title>hidapi — Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
+
+ <link rel="stylesheet" href="_static/basic.css" type="text/css" />
+ <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+ <link rel="stylesheet" href="_static/bootswatch-3.3.6/readable/bootstrap.min.css" type="text/css" />
+ <link rel="stylesheet" href="_static/bootstrap-sphinx.css" type="text/css" />
+
+ <script type="text/javascript">
+ var DOCUMENTATION_OPTIONS = {
+ URL_ROOT: './',
+ VERSION: 'v0.4-rc.10',
+ COLLAPSE_INDEX: false,
+ FILE_SUFFIX: '.html',
+ HAS_SOURCE: true
+ };
+ </script>
+ <script type="text/javascript" src="_static/jquery.js"></script>
+ <script type="text/javascript" src="_static/underscore.js"></script>
+ <script type="text/javascript" src="_static/doctools.js"></script>
+ <script type="text/javascript" src="_static/js/jquery-1.11.0.min.js"></script>
+ <script type="text/javascript" src="_static/js/jquery-fix.js"></script>
+ <script type="text/javascript" src="_static/bootstrap-3.3.6/js/bootstrap.min.js"></script>
+ <script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
+ <link rel="index" title="Index" href="genindex.html" />
+ <link rel="search" title="Search" href="search.html" />
+ <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
+ <link rel="next" title="usbBrickIO" href="usbBrickIO.html" />
+ <link rel="prev" title="Sensor" href="Sensor.html" />
+<meta charset='utf-8'>
+<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
+<meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
+<meta name="apple-mobile-web-app-capable" content="yes">
+
+ </head>
+ <body role="document">
+
+ <div id="navbar" class="navbar navbar-default navbar-fixed-top">
+ <div class="container">
+ <div class="navbar-header">
+ <!-- .btn-navbar is used as the toggle for collapsed navbar content -->
+ <button type="button" class="navbar-toggle" data-toggle="collapse" data-target=".nav-collapse">
+ <span class="icon-bar"></span>
+ <span class="icon-bar"></span>
+ <span class="icon-bar"></span>
+ </button>
+ <a class="navbar-brand" href="index.html">
+ Mindstorms EV3 Toolbox</a>
+ <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
+ </div>
+
+ <div class="collapse navbar-collapse nav-collapse">
+ <ul class="nav navbar-nav">
+
+
+ <li class="dropdown globaltoc-container">
+ <a role="button"
+ id="dLabelGlobalToc"
+ data-toggle="dropdown"
+ data-target="#"
+ href="index.html">Site <b class="caret"></b></a>
+ <ul class="dropdown-menu globaltoc"
+ role="menu"
+ aria-labelledby="dLabelGlobalToc"><ul>
+<li class="toctree-l1"><a class="reference internal" href="readme.html">General</a></li>
+<li class="toctree-l1"><a class="reference internal" href="examples.html">Examples</a></li>
+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="EV3.html">EV3</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
+</ul>
+<ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
+</ul>
+</ul>
+</li>
+
+ <li class="dropdown">
+ <a role="button"
+ id="dLabelLocalToc"
+ data-toggle="dropdown"
+ data-target="#"
+ href="#">Page <b class="caret"></b></a>
+ <ul class="dropdown-menu localtoc"
+ role="menu"
+ aria-labelledby="dLabelLocalToc"><ul>
+<li><a class="reference internal" href="#">hidapi</a></li>
+</ul>
+</ul>
+</li>
+
+
+
+
+
+ <li>
+ <a href="Sensor.html" title="Previous Chapter: Sensor"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">« Sensor</span>
+ </a>
+ </li>
+ <li>
+ <a href="usbBrickIO.html" title="Next Chapter: usbBrickIO"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">usbBrickIO »</span>
+ </a>
+ </li>
+
+
+
+
+
+ <li class="hidden-sm">
+<div id="sourcelink">
+ <a href="_sources/hid.txt"
+ rel="nofollow">Source</a>
+</div></li>
+
+ </ul>
+
+
+
+<form class="navbar-form navbar-right" action="search.html" method="get">
+ <div class="form-group">
+ <input type="text" name="q" class="form-control" placeholder="Search" />
+ </div>
+ <input type="hidden" name="check_keywords" value="yes" />
+ <input type="hidden" name="area" value="default" />
+</form>
+
+ </div>
+ </div>
+ </div>
+
+<div class="container">
+ <div class="row">
+ <div class="col-md-12 content">
+
+ <span class="target" id="module-source"></span><div class="section" id="hidapi">
+<h1>hidapi<a class="headerlink" href="#hidapi" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.hidapi">
+<em class="property">class </em><code class="descclassname">source.</code><code class="descname">hidapi</code><span class="sig-paren">(</span><em>vendorID</em>, <em>productID</em>, <em>nReadBuffer</em>, <em>nWriteBuffer</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi" title="Permalink to this definition">¶</a></dt>
+<dd><p>Interface to the hidapi library</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Developed from the hidapi available at <a class="reference external" href="http://www.signal11.us/oss/hidapi/">http://www.signal11.us/oss/hidapi/</a>.</li>
+<li>Windows: hidapi.dll needed.</li>
+<li>Mac: hidapi.dylib needed. In addition, Xcode has to be installed.</li>
+<li>Linux: hidapi has to be compiled on host-system.</li>
+</ul>
+<dl class="attribute">
+<dt id="source.hidapi.handle">
+<code class="descname">handle</code><a class="headerlink" href="#source.hidapi.handle" title="Permalink to this definition">¶</a></dt>
+<dd></dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.vendorID">
+<code class="descname">vendorID</code><a class="headerlink" href="#source.hidapi.vendorID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Vendor-ID of the USB device.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.productID">
+<code class="descname">productID</code><a class="headerlink" href="#source.hidapi.productID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Product-ID of the USB device.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.nReadBuffer">
+<code class="descname">nReadBuffer</code><a class="headerlink" href="#source.hidapi.nReadBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Read-buffer size in bytes.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.nWriteBuffer">
+<code class="descname">nWriteBuffer</code><a class="headerlink" href="#source.hidapi.nWriteBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Write-buffer size in bytes. Needs to be 1 Byte bigger than
+actual packet.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.slib">
+<code class="descname">slib</code><a class="headerlink" href="#source.hidapi.slib" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> – Name of shared library file (without file extension). Defaults to
+‘hidapi’.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.sheader">
+<code class="descname">sheader</code><a class="headerlink" href="#source.hidapi.sheader" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> – Name of shared library header. Defaults to ‘hidapi.h’.</p>
+</dd></dl>
+
+<p class="rubric">Example</p>
+<p>hidHandle = hidapi(1684,0005,1024,1025); %|br|</p>
+<dl class="method">
+<dt id="source.hidapi.close">
+<code class="descname">close</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.close" title="Permalink to this definition">¶</a></dt>
+<dd><p>Close the connection to a hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Gets called automatically when deleting the hidapi instance.</li>
+</ul>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.enumerate">
+<code class="descname">enumerate</code><span class="sig-paren">(</span><em>hid</em>, <em>vendorID</em>, <em>productID</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.enumerate" title="Permalink to this definition">¶</a></dt>
+<dd><p>Enumerates the info about the hid device with the given vendorID and productID
+and returns a string with the returned hid information.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
+<li><strong>vendorID</strong> (<em>numeric</em>) – Vendor-ID of the USB device in decimal.</li>
+<li><strong>productID</strong> (<em>numeric</em>) – Product-ID of the USB device in decimal.</li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Using a vendorID and productID of (0,0) will enumerate all connected hid
+devices.</li>
+<li>MATLAB does not have the hid_device_infoPtr struct so some of the returned
+information will need to be resized and cast into uint8 or chars.</li>
+</ul>
+<p>Enumerate the hid devices</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.error">
+<code class="descname">error</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.error" title="Permalink to this definition">¶</a></dt>
+<dd><p>Return the hid device error string if a function produced an error.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This function must be called explicitly if you think an error was generated
+from the hid device.</li>
+</ul>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.exit">
+<code class="descname">exit</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.exit" title="Permalink to this definition">¶</a></dt>
+<dd><p>hidapi.exit Exit hidapi</p>
+<p>hid.exit() exits the hidapi library.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p>Notes::
+- You should not have to call this function directly.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getHIDInfoString">
+<code class="descname">getHIDInfoString</code><span class="sig-paren">(</span><em>hid</em>, <em>info</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getHIDInfoString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get the corresponding hid info from the hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Info is the hid information string.</li>
+</ul>
+<p>See also HIDAPI.GETMANUFACTURERSSTRING, HIDAPI.GETPRODUCTSTRING,
+HIDAPI.GETSERIALNUMBERSTRING.</p>
+<p>Read buffer nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getManufacturersString">
+<code class="descname">getManufacturersString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getManufacturersString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get manufacturers string from hid object using getHIDInfoString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getProductString">
+<code class="descname">getProductString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getProductString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get product string from hid object using getProductString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getSerialNumberString">
+<code class="descname">getSerialNumberString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getSerialNumberString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get serial number from hid object using getSerialNumberString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.init">
+<code class="descname">init</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.init" title="Permalink to this definition">¶</a></dt>
+<dd><p>Inits the hidapi library.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This is called automatically in the library itself with the open function. You
+should not have to call this function directly.</li>
+</ul>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.open">
+<code class="descname">open</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.open" title="Permalink to this definition">¶</a></dt>
+<dd><p>Open a connection with a hid device</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Gets called automatically when creating an hidapi-object.</li>
+<li>The pointer return value from this library call is always null so it is not
+possible to know if the open was successful.</li>
+<li>The final parameter to the open hidapi library call has different types
+depending on OS. On windows it is uint16, on linux/mac int32.</li>
+</ul>
+<p>Create a null pointer for the hid_open function (depends on OS)</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.read">
+<code class="descname">read</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.read" title="Permalink to this definition">¶</a></dt>
+<dd><p>Read from a hid device and returns the read bytes.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Will print an error if no data was read.</li>
+</ul>
+<p>Read buffer of nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.read_timeout">
+<code class="descname">read_timeout</code><span class="sig-paren">(</span><em>hid</em>, <em>timeOut</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.read_timeout" title="Permalink to this definition">¶</a></dt>
+<dd><p>Read from a hid device with a timeout and return the read bytes.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>timeOut</strong> (<em>numeric >= 0</em>) – Milliseconds after which a timeout-error occurs if no
+packet could be read.</td>
+</tr>
+</tbody>
+</table>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p>Read buffer of nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.setNonBlocking">
+<code class="descname">setNonBlocking</code><span class="sig-paren">(</span><em>hid</em>, <em>nonblock</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.setNonBlocking" title="Permalink to this definition">¶</a></dt>
+<dd><p>Set the non blocking flag on the hid device connection.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>nonblock</strong> (<em>numeric in {0,1}</em>) – 0 disables nonblocking, 1 enables nonblocking</td>
+</tr>
+</tbody>
+</table>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.write">
+<code class="descname">write</code><span class="sig-paren">(</span><em>hid</em>, <em>wmsg</em>, <em>reportID</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.write" title="Permalink to this definition">¶</a></dt>
+<dd><p>Write to a hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Will print an error if there is a mismatch between the buffer size and the
+reported number of bytes written.</li>
+</ul>
+<p>Append a 0 at the front for HID report ID</p>
+</dd></dl>
+
+</dd></dl>
+
+</div>
+
+
+ </div>
+
+ </div>
+</div>
+<footer class="footer">
+ <div class="container">
+ <p class="pull-right">
+ <a href="#">Back to top</a>
+
+ </p>
+ <p>
+ © Copyright 2016, LfB - RWTH Aachen.<br/>
+ Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
+ </p>
+ </div>
+</footer>
+ </body>
+</html>
\ No newline at end of file
diff --git a/docs/_build/html/index.html b/docs/_build/html/index.html
index 392a1f7fb1844dc2b44b4ece7648cd8c12d05788..405118001f2b56e232cdd231bc4f4fcfcc6ad12d 100644
--- a/docs/_build/html/index.html
+++ b/docs/_build/html/index.html
@@ -76,8 +76,9 @@
<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
</ul>
<ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
@@ -176,16 +177,9 @@ these are the classes you will mostly use.</p>
<p>Advanced</p>
<div class="toctree-wrapper compound">
<ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="CommandLayer.html#command">Command</a></li>
-<li class="toctree-l2"><a class="reference internal" href="CommandLayer.html#communicationinterface">CommunicationInterface</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="CommunicationLayer.html#usb">USB</a></li>
-<li class="toctree-l2"><a class="reference internal" href="CommunicationLayer.html#bluetooth">Bluetooth</a></li>
-</ul>
-</li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</div>
</div>
diff --git a/docs/_build/html/mat-modindex.html b/docs/_build/html/mat-modindex.html
index b38672dbedf8ed662a43038f49129b4474587969..d739141b2137025ab7ef6339693a550b9b040ac9 100644
--- a/docs/_build/html/mat-modindex.html
+++ b/docs/_build/html/mat-modindex.html
@@ -82,8 +82,9 @@
<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
</ul>
<ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
@@ -144,7 +145,7 @@
<tr>
<td></td>
<td>
- <a href="source.html#module-source"><code class="xref">source</code></a></td><td>
+ <a href="usbBrickIO.html#module-source"><code class="xref">source</code></a></td><td>
<em></em></td></tr>
</table>
diff --git a/docs/_build/html/objects.inv b/docs/_build/html/objects.inv
index a3c132e711636a4c8ed891ddfe8a5f13a89ed346..2e46e2abe484e5cc009c63b29e6cbbb90c1a4d8c 100644
Binary files a/docs/_build/html/objects.inv and b/docs/_build/html/objects.inv differ
diff --git a/docs/_build/html/readme.html b/docs/_build/html/readme.html
index 954c61500add5d65144d7234cc4d4db1c280da4e..bb4d3aae47a7a83557fb263d6be241f60162d095 100644
--- a/docs/_build/html/readme.html
+++ b/docs/_build/html/readme.html
@@ -79,6 +79,8 @@
<ul>
<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
diff --git a/docs/_build/html/search.html b/docs/_build/html/search.html
index 83cf5d5221404857bcf632782488a125ce1779df..f6c7e9d2014fc221bd5f2c37349eb0640623cee3 100644
--- a/docs/_build/html/search.html
+++ b/docs/_build/html/search.html
@@ -83,8 +83,9 @@
<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
</ul>
<ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
diff --git a/docs/_build/html/searchindex.js b/docs/_build/html/searchindex.js
index 878cbbcafc4f55bbc943a5ad918e960e9018eae6..7daaf2b40bffa23d48082d746ba756c3cfca8445 100644
--- a/docs/_build/html/searchindex.js
+++ b/docs/_build/html/searchindex.js
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\ No newline at end of file
diff --git a/docs/_build/html/source.html b/docs/_build/html/source.html
index 2a43839969e7b7b44e135e3994ee70b8436ae1e3..b165c7d86c9fbfadb7a6daa31726402defc1ac59 100644
--- a/docs/_build/html/source.html
+++ b/docs/_build/html/source.html
@@ -75,8 +75,9 @@
<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
</ul>
<ul>
-<li class="toctree-l1"><a class="reference internal" href="CommandLayer.html">CommandLayer</a></li>
-<li class="toctree-l1"><a class="reference internal" href="CommunicationLayer.html">CommunicationLayer</a></li>
+<li class="toctree-l1"><a class="reference internal" href="hid.html">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
</ul>
</ul>
</li>
@@ -305,7 +306,7 @@ b.disconnect(); % <br /></p>
<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
<li><strong>volume</strong> (<em>numeric in [0, 100]</em>) – in percent</li>
<li><strong>frequency</strong> (<em>numeric in [250, 10000]</em>) – in Hertz</li>
-<li><strong>duration</strong> (<em>numeric >0</em>) – in milliseconds</li>
+<li><strong>duration</strong> (<em>numeric > 0</em>) – in milliseconds</li>
</ul>
</td>
</tr>
diff --git a/docs/_build/html/test.html b/docs/_build/html/test.html
new file mode 100644
index 0000000000000000000000000000000000000000..50e55fbfa85e2276a11515d77c10c6e88f409b75
--- /dev/null
+++ b/docs/_build/html/test.html
@@ -0,0 +1,445 @@
+<!DOCTYPE html>
+
+
+<html xmlns="http://www.w3.org/1999/xhtml">
+ <head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+
+ <title>hidapi — Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
+
+ <link rel="stylesheet" href="_static/basic.css" type="text/css" />
+ <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+ <link rel="stylesheet" href="_static/bootswatch-3.3.6/readable/bootstrap.min.css" type="text/css" />
+ <link rel="stylesheet" href="_static/bootstrap-sphinx.css" type="text/css" />
+
+ <script type="text/javascript">
+ var DOCUMENTATION_OPTIONS = {
+ URL_ROOT: './',
+ VERSION: 'v0.4-rc.10',
+ COLLAPSE_INDEX: false,
+ FILE_SUFFIX: '.html',
+ HAS_SOURCE: true
+ };
+ </script>
+ <script type="text/javascript" src="_static/jquery.js"></script>
+ <script type="text/javascript" src="_static/underscore.js"></script>
+ <script type="text/javascript" src="_static/doctools.js"></script>
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+ <script type="text/javascript" src="_static/js/jquery-fix.js"></script>
+ <script type="text/javascript" src="_static/bootstrap-3.3.6/js/bootstrap.min.js"></script>
+ <script type="text/javascript" src="_static/bootstrap-sphinx.js"></script>
+ <link rel="index" title="Index" href="genindex.html" />
+ <link rel="search" title="Search" href="search.html" />
+ <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
+ <link rel="next" title="usbBrickIO" href="usbBrickIO.html" />
+ <link rel="prev" title="Sensor" href="Sensor.html" />
+<meta charset='utf-8'>
+<meta http-equiv='X-UA-Compatible' content='IE=edge,chrome=1'>
+<meta name='viewport' content='width=device-width, initial-scale=1.0, maximum-scale=1'>
+<meta name="apple-mobile-web-app-capable" content="yes">
+
+ </head>
+ <body role="document">
+
+ <div id="navbar" class="navbar navbar-default navbar-fixed-top">
+ <div class="container">
+ <div class="navbar-header">
+ <!-- .btn-navbar is used as the toggle for collapsed navbar content -->
+ <button type="button" class="navbar-toggle" data-toggle="collapse" data-target=".nav-collapse">
+ <span class="icon-bar"></span>
+ <span class="icon-bar"></span>
+ <span class="icon-bar"></span>
+ </button>
+ <a class="navbar-brand" href="index.html">
+ Mindstorms EV3 Toolbox</a>
+ <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
+ </div>
+
+ <div class="collapse navbar-collapse nav-collapse">
+ <ul class="nav navbar-nav">
+
+
+ <li class="dropdown globaltoc-container">
+ <a role="button"
+ id="dLabelGlobalToc"
+ data-toggle="dropdown"
+ data-target="#"
+ href="index.html">Site <b class="caret"></b></a>
+ <ul class="dropdown-menu globaltoc"
+ role="menu"
+ aria-labelledby="dLabelGlobalToc"><ul>
+<li class="toctree-l1"><a class="reference internal" href="readme.html">General</a></li>
+<li class="toctree-l1"><a class="reference internal" href="examples.html">Examples</a></li>
+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="EV3.html">EV3</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="Sensor.html">Sensor</a></li>
+</ul>
+<ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">hidapi</a></li>
+<li class="toctree-l1"><a class="reference internal" href="usbBrickIO.html">usbBrickIO</a></li>
+<li class="toctree-l1"><a class="reference internal" href="btBrickIO.html">btBrickIO</a></li>
+</ul>
+</ul>
+</li>
+
+ <li class="dropdown">
+ <a role="button"
+ id="dLabelLocalToc"
+ data-toggle="dropdown"
+ data-target="#"
+ href="#">Page <b class="caret"></b></a>
+ <ul class="dropdown-menu localtoc"
+ role="menu"
+ aria-labelledby="dLabelLocalToc"><ul>
+<li><a class="reference internal" href="#">hidapi</a></li>
+</ul>
+</ul>
+</li>
+
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+
+
+ <li>
+ <a href="Sensor.html" title="Previous Chapter: Sensor"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">« Sensor</span>
+ </a>
+ </li>
+ <li>
+ <a href="usbBrickIO.html" title="Next Chapter: usbBrickIO"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">usbBrickIO »</span>
+ </a>
+ </li>
+
+
+
+
+
+ <li class="hidden-sm">
+<div id="sourcelink">
+ <a href="_sources/test.txt"
+ rel="nofollow">Source</a>
+</div></li>
+
+ </ul>
+
+
+
+<form class="navbar-form navbar-right" action="search.html" method="get">
+ <div class="form-group">
+ <input type="text" name="q" class="form-control" placeholder="Search" />
+ </div>
+ <input type="hidden" name="check_keywords" value="yes" />
+ <input type="hidden" name="area" value="default" />
+</form>
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+ </div>
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+
+<div class="container">
+ <div class="row">
+ <div class="col-md-12 content">
+
+ <span class="target" id="module-source"></span><div class="section" id="hidapi">
+<h1>hidapi<a class="headerlink" href="#hidapi" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.hidapi">
+<em class="property">class </em><code class="descclassname">source.</code><code class="descname">hidapi</code><span class="sig-paren">(</span><em>vendorID</em>, <em>productID</em>, <em>nReadBuffer</em>, <em>nWriteBuffer</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi" title="Permalink to this definition">¶</a></dt>
+<dd><p>Interface to the hidapi library</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Developed from the hidapi available at <a class="reference external" href="http://www.signal11.us/oss/hidapi/">http://www.signal11.us/oss/hidapi/</a>.</li>
+<li>Windows: hidapi.dll needed.</li>
+<li>Mac: hidapi.dylib needed. In addition, Xcode has to be installed.</li>
+<li>Linux: hidapi has to be compiled on host-system.</li>
+</ul>
+<dl class="attribute">
+<dt id="source.hidapi.handle">
+<code class="descname">handle</code><a class="headerlink" href="#source.hidapi.handle" title="Permalink to this definition">¶</a></dt>
+<dd></dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.vendorID">
+<code class="descname">vendorID</code><a class="headerlink" href="#source.hidapi.vendorID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Vendor-ID of the USB device.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.productID">
+<code class="descname">productID</code><a class="headerlink" href="#source.hidapi.productID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Product-ID of the USB device.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.nReadBuffer">
+<code class="descname">nReadBuffer</code><a class="headerlink" href="#source.hidapi.nReadBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Read-buffer size in bytes.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.nWriteBuffer">
+<code class="descname">nWriteBuffer</code><a class="headerlink" href="#source.hidapi.nWriteBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Write-buffer size in bytes. Needs to be 1 Byte bigger than
+actual packet.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.slib">
+<code class="descname">slib</code><a class="headerlink" href="#source.hidapi.slib" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> – Name of shared library file (without file extension). Defaults to
+‘hidapi’.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.hidapi.sheader">
+<code class="descname">sheader</code><a class="headerlink" href="#source.hidapi.sheader" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string</em> – Name of shared library header. Defaults to ‘hidapi.h’.</p>
+</dd></dl>
+
+<p class="rubric">Example</p>
+<p>hidHandle = hidapi(1684,0005,1024,1025); %|br|</p>
+<dl class="method">
+<dt id="source.hidapi.close">
+<code class="descname">close</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.close" title="Permalink to this definition">¶</a></dt>
+<dd><p>Close the connection to a hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Gets called automatically when deleting the hidapi instance.</li>
+</ul>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.enumerate">
+<code class="descname">enumerate</code><span class="sig-paren">(</span><em>hid</em>, <em>vendorID</em>, <em>productID</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.enumerate" title="Permalink to this definition">¶</a></dt>
+<dd><p>Enumerates the info about the hid device with the given vendorID and productID
+and returns a string with the returned hid information.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first last simple">
+<li><strong>vendorID</strong> (<em>numeric</em>) – Vendor-ID of the USB device in decimal.</li>
+<li><strong>productID</strong> (<em>numeric</em>) – Product-ID of the USB device in decimal.</li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Using a vendorID and productID of (0,0) will enumerate all connected hid
+devices.</li>
+<li>MATLAB does not have the hid_device_infoPtr struct so some of the returned
+information will need to be resized and cast into uint8 or chars.</li>
+</ul>
+<p>Enumerate the hid devices</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.error">
+<code class="descname">error</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.error" title="Permalink to this definition">¶</a></dt>
+<dd><p>Return the hid device error string if a function produced an error.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This function must be called explicitly if you think an error was generated
+from the hid device.</li>
+</ul>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.exit">
+<code class="descname">exit</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.exit" title="Permalink to this definition">¶</a></dt>
+<dd><p>hidapi.exit Exit hidapi</p>
+<p>hid.exit() exits the hidapi library.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p>Notes::
+- You should not have to call this function directly.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getHIDInfoString">
+<code class="descname">getHIDInfoString</code><span class="sig-paren">(</span><em>hid</em>, <em>info</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getHIDInfoString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get the corresponding hid info from the hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Info is the hid information string.</li>
+</ul>
+<p>See also HIDAPI.GETMANUFACTURERSSTRING, HIDAPI.GETPRODUCTSTRING,
+HIDAPI.GETSERIALNUMBERSTRING.</p>
+<p>Read buffer nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getManufacturersString">
+<code class="descname">getManufacturersString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getManufacturersString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get manufacturers string from hid object using getHIDInfoString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getProductString">
+<code class="descname">getProductString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getProductString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get product string from hid object using getProductString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.getSerialNumberString">
+<code class="descname">getSerialNumberString</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.getSerialNumberString" title="Permalink to this definition">¶</a></dt>
+<dd><p>Get serial number from hid object using getSerialNumberString.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.init">
+<code class="descname">init</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.init" title="Permalink to this definition">¶</a></dt>
+<dd><p>Inits the hidapi library.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This is called automatically in the library itself with the open function. You
+should not have to call this function directly.</li>
+</ul>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.open">
+<code class="descname">open</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.open" title="Permalink to this definition">¶</a></dt>
+<dd><p>Open a connection with a hid device</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Gets called automatically when creating an hidapi-object.</li>
+<li>The pointer return value from this library call is always null so it is not
+possible to know if the open was successful.</li>
+<li>The final parameter to the open hidapi library call has different types
+depending on OS. On windows it is uint16, on linux/mac int32.</li>
+</ul>
+<p>Create a null pointer for the hid_open function (depends on OS)</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.read">
+<code class="descname">read</code><span class="sig-paren">(</span><em>hid</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.read" title="Permalink to this definition">¶</a></dt>
+<dd><p>Read from a hid device and returns the read bytes.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Will print an error if no data was read.</li>
+</ul>
+<p>Read buffer of nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.read_timeout">
+<code class="descname">read_timeout</code><span class="sig-paren">(</span><em>hid</em>, <em>timeOut</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.read_timeout" title="Permalink to this definition">¶</a></dt>
+<dd><p>Read from a hid device with a timeout and return the read bytes.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>timeOut</strong> (<em>numeric >= 0</em>) – Milliseconds after which a timeout-error occurs if no
+packet could be read.</td>
+</tr>
+</tbody>
+</table>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p>Read buffer of nReadBuffer length</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.setNonBlocking">
+<code class="descname">setNonBlocking</code><span class="sig-paren">(</span><em>hid</em>, <em>nonblock</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.setNonBlocking" title="Permalink to this definition">¶</a></dt>
+<dd><p>Set the non blocking flag on the hid device connection.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>nonblock</strong> (<em>numeric in {0,1}</em>) – 0 disables nonblocking, 1 enables nonblocking</td>
+</tr>
+</tbody>
+</table>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<ol class="upperroman simple" start="2001">
+<li>Check if pointer is (unexpectedly) already invalidated</li>
+</ol>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.hidapi.write">
+<code class="descname">write</code><span class="sig-paren">(</span><em>hid</em>, <em>wmsg</em>, <em>reportID</em><span class="sig-paren">)</span><a class="headerlink" href="#source.hidapi.write" title="Permalink to this definition">¶</a></dt>
+<dd><p>Write to a hid device.</p>
+<dl class="docutils">
+<dt>Throws:</dt>
+<dd>CommError: Error during communication with device
+InvalidHandle: Handle to USB-device not valid</dd>
+</dl>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Will print an error if there is a mismatch between the buffer size and the
+reported number of bytes written.</li>
+</ul>
+<p>Append a 0 at the front for HID report ID</p>
+</dd></dl>
+
+</dd></dl>
+
+</div>
+
+
+ </div>
+
+ </div>
+</div>
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+ <span class="target" id="module-source"></span><div class="section" id="usbbrickio">
+<h1>usbBrickIO<a class="headerlink" href="#usbbrickio" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.usbBrickIO">
+<em class="property">class </em><code class="descname">usbBrickIO</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO" title="Permalink to this definition">¶</a></dt>
+<dd><p>USB interface between MATLAB and the brick</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Uses the hid library implementation in hidapi.m</li>
+<li>The default parameters should always work when you try to connect to an EV3 brick,
+so in nearly all use-cases, the constructor does not need any parameters (besides
+'debug' eventually).</li>
+</ul>
+<dl class="attribute">
+<dt id="source.usbBrickIO.debug">
+<code class="descname">debug</code><a class="headerlink" href="#source.usbBrickIO.debug" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> – If true, each open/close/read/write-call will be noted in the console.
+Defaults to false.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.usbBrickIO.vendorID">
+<code class="descname">vendorID</code><a class="headerlink" href="#source.usbBrickIO.vendorID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Vendor-ID of the USB device. Defaults to 0x694 (EV3 vendor ID).</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.usbBrickIO.productID">
+<code class="descname">productID</code><a class="headerlink" href="#source.usbBrickIO.productID" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Product-ID of the USB device. Defaults to 0x0005 (EV3 product ID).</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.usbBrickIO.nReadBuffer">
+<code class="descname">nReadBuffer</code><a class="headerlink" href="#source.usbBrickIO.nReadBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Read-buffer size in bytes. Defaults to 1024.</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.usbBrickIO.nWriteBuffer">
+<code class="descname">nWriteBuffer</code><a class="headerlink" href="#source.usbBrickIO.nWriteBuffer" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Write-buffer size in bytes. Needs to be 1 Byte bigger than
+actual packet. Defaults to 1025 (EV3 USB maximum packet size = 1024).</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.usbBrickIO.timeOut">
+<code class="descname">timeOut</code><a class="headerlink" href="#source.usbBrickIO.timeOut" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric >= 0</em> – Milliseconds after which a timeout-error occurs if no packet could be
+read. Defaults to 10000.</p>
+</dd></dl>
+
+<p class="rubric">Examples</p>
+<p>% Connecting via USB <br />
+commHandle = usbBrickIO(); % <br />
+% Connecting via USB with enabled debug output <br />
+commHandle = usbBrickIO('debug', true); % <br /></p>
+<dl class="method">
+<dt id="source.usbBrickIO.close">
+<code class="descname">close</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO.close" title="Permalink to this definition">¶</a></dt>
+<dd><p>Closes the usb connection the brick through the hidapi interface.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.usbBrickIO.open">
+<code class="descname">open</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO.open" title="Permalink to this definition">¶</a></dt>
+<dd><p>Opens the usb connection to the brick through the hidapi interface.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.usbBrickIO.read">
+<code class="descname">read</code><span class="sig-paren">(</span><em>brickIO</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO.read" title="Permalink to this definition">¶</a></dt>
+<dd><p>Reads data from the brick through usb using the hidapi interface and returns the data in uint8 format.</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.usbBrickIO.setProperties">
+<code class="descname">setProperties</code><span class="sig-paren">(</span><em>brickIO</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO.setProperties" title="Permalink to this definition">¶</a></dt>
+<dd><p>Sets multiple usbBrickIO properties at once using MATLAB's inputParser.</p>
+<p>The syntax is as follows: commHandle.setProperties('propertyName1',
+propertyValue1, 'propertyName2', propertyValue2, ...). Valid, optional properties
+are: debug, vendorID, productID, nReadBuffer, nWriteBuffer, timeOut.</p>
+<p>See also USBBRICKIO.DEBUG, USBBRICKIO.VENDORID, USBBRICKIO.PRODUCTID,
+USBBRICKIO.NREADBUFFER, USBBRICKIO.NWRITEBUFFER, USBBRICKIO.TIMEOUT</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.usbBrickIO.write">
+<code class="descname">write</code><span class="sig-paren">(</span><em>brickIO</em>, <em>wmsg</em><span class="sig-paren">)</span><a class="headerlink" href="#source.usbBrickIO.write" title="Permalink to this definition">¶</a></dt>
+<dd><p>Writes data to the brick through usb using the hidapi interface.</p>
+<table class="docutils field-list" frame="void" rules="none">
+<col class="field-name" />
+<col class="field-body" />
+<tbody valign="top">
+<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><strong>wmsg</strong> (<em>uint8 array</em>) – Data to be written to the brick via usb</td>
+</tr>
+</tbody>
+</table>
+</dd></dl>
+
+</dd></dl>
+
+</div>
+
+
+ </div>
+
+ </div>
+</div>
+<footer class="footer">
+ <div class="container">
+ <p class="pull-right">
+ <a href="#">Back to top</a>
+
+ </p>
+ <p>
+ © Copyright 2016, LfB - RWTH Aachen.<br/>
+ Created using <a href="http://sphinx-doc.org/">Sphinx</a> 1.4.8.<br/>
+ </p>
+ </div>
+</footer>
+ </body>
+</html>
\ No newline at end of file
diff --git a/docs/btBrickIO.rst b/docs/btBrickIO.rst
new file mode 100644
index 0000000000000000000000000000000000000000..5e076d50dc1c141aef7ed955e216f4b3a438723c
--- /dev/null
+++ b/docs/btBrickIO.rst
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+
+ <br />
+btBrickIO
+=========
+
+.. autoclass:: btBrickIO
+ :members: open, close, read, write, setProperties
diff --git a/docs/hid.rst b/docs/hid.rst
new file mode 100644
index 0000000000000000000000000000000000000000..a81e179691da5a39122479c305bd02a5f82a5619
--- /dev/null
+++ b/docs/hid.rst
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+
+ <br />
+hidapi
+======
+
+.. autoclass:: hidapi
+ :members: open, close, read, read_timeout, write, getHIDInfoString, setNonBlocking, init, exit, error, enumerate, getManufacturersString, getProductString, getSerialNumberString
diff --git a/docs/index.rst b/docs/index.rst
index a75f04ace42e9750f8f5f8213320a304c343fd57..157a890c15b3b897ca5e3259d9f5fbe22c3fe0fe 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -45,8 +45,9 @@ Toolbox documentation
Advanced
.. toctree::
- :maxdepth: 2
-
- CommandLayer.rst
- CommunicationLayer.rst
-
+ :maxdepth: 3
+
+ hid
+ usbBrickIO
+ btBrickIO
+
diff --git a/docs/process.py b/docs/process.py
index 7704a4582f74a583fb34b0ce802101f9991c0a8b..4b8d5fc607cd613d5c99d3a349cd41cce49a9914 100644
--- a/docs/process.py
+++ b/docs/process.py
@@ -82,7 +82,7 @@ def postprocess():
postprocess_html_files()
def postprocess_html_files():
- documented_classes = ['Motor', 'Sensor', 'EV3']
+ documented_classes = ['Motor', 'Sensor', 'EV3', 'usbBrickIO', 'btBrickIO']
for file_name in documented_classes:
current_file = os.path.abspath('_build/html/' + file_name + '.html')
diff --git a/docs/usbBrickIO.rst b/docs/usbBrickIO.rst
new file mode 100644
index 0000000000000000000000000000000000000000..785bdc9777327560b7982902df1a9df17ffb2cc9
--- /dev/null
+++ b/docs/usbBrickIO.rst
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+
+ <br />
+usbBrickIO
+==========
+
+.. autoclass:: usbBrickIO
+ :members: open, close, read, write, setProperties
diff --git a/source/BrickIO.m b/source/BrickIO.m
index a5ee1129a0a23170da017785296ab079924794be..9b86316daaa464f2fc88338b02847c726145ecad 100755
--- a/source/BrickIO.m
+++ b/source/BrickIO.m
@@ -1,35 +1,36 @@
-%BrickIO Abstract class definition for brick input output
-%
-% Methods::
-% open Open the connection to the brick
-% close Close the connection to the brick
-% read Read data from the brick
-% write Write data to the brick
-%
-% Notes::
-% - handle is the connection object
-% - The read function should return a uint8 datatype
-% - The write function should be given a uint8 datatype as a parameter
-
classdef BrickIO < MaskedHandle
+ % Abstract class definition for brick input output
+ %
+ % Notes:
+ % * The read/write-methods use uint8-arrays.
+ % * Instances of child-classes of BrickIO represent connection handles. The connection is
+ % opened when creating them and closed when deleting them.
+ %
+ % Methods:
+ % open: Open the connection to the brick
+ % close: Close the connection to the brick
+ % read: Read data from the brick
+ % write: Write data to the brick
+ %
+
properties (Abstract)
- % time-out period (if 0, no time-out)
+ % timeOut: time-out period (if 0, no time-out)
timeOut
end
- properties (Abstract, Access = 'protected')
- % connection handle
+ properties (Abstract, Access = protected)
+ % handle: Connection handle to the device
handle
end
methods (Abstract)
- % open the brick connection
+ % Open the brick connection
open(BrickIO)
- % close the brick connection
+ % Close the brick connection
close(BrickIO)
- % read data from the brick
+ % Read data from the brick
read(BrickIO)
- % write data to the brick
+ % Write data to the brick
write(BrickIO)
end
end
\ No newline at end of file
diff --git a/source/EV3.m b/source/EV3.m
index 7ddac27cb16018951b46d7163ef2d60456804246..53abefb3b35fef18261fedc337d1b39cae479bd0 100755
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -118,7 +118,7 @@ classdef EV3 < MaskedHandle
% Sets properties of EV3-object and creates Motor- and Sensor-objects with default
% parameters.
%
- % Arguments
+ % Arguments:
% varargin: see setProperties(ev3, varargin).
%
% See also SETPROPERTIES / :meth:`setProperties(ev3, varargin)`
diff --git a/source/btBrickIO.m b/source/btBrickIO.m
index 0625c3f7cbf774fd26aca90f263b417975c9ed80..fb250d06c3eb8c375140590c67c3a54a0fcbca2c 100755
--- a/source/btBrickIO.m
+++ b/source/btBrickIO.m
@@ -7,86 +7,85 @@ classdef btBrickIO < BrickIO
% module can be made. Also be sure that the bluetooth module has been paired
% to the brick before trying to connect.
% * Usage is OS-dependent:
- %
- % - Windows: the deviceName- & channel-properties are needed for connection. The
- % implementation is based on the Instrument Control toolbox.
- % - Linux (and potentially Mac): serialPort-property is needed for connection. The
- % implementation is based on MATLAB's serial port implementation.
+ % * Windows: the deviceName- & channel-properties are needed for connection. The implementation is based on the Instrument Control toolbox.
+ % * Linux (and potentially Mac): serialPort-property is needed for connection. The implementation is based on MATLAB's serial port implementation.
+ %
+ % * For general information, see also :class:`BrickIO`.
%
% Attributes:
- % debug (bool): If true, each open/close/read/write-call will be noted in the console.
- % serialPort (string): Path to the serial-port object (default: '/dev/rfcomm0'). Only
- % needed when using MATLAB's serial class (i.e. on linux/mac).
- % deviceName (string): Name of the BT-device = the brick (default: 'EV3'). Only
- % needed when using the Instrument Control toolbox (i.e. on windows).
- % channel (numeric > 0): BT-channel of the connected BT-device (default: 1). Only
- % needed when using the Instrument Control toolbox (i.e. on windows).
+ % debug (bool): If true, each open/close/read/write-call will be shown in the console.
+ % Defaults to false.
+ % serialPort (string): Path to the serial-port object. Only needed when using MATLAB's
+ % serial class (i.e. on linux/mac). Defaults to '/dev/rfcomm0'.
+ % deviceName (string): Name of the BT-device = the brick. Only needed when using the
+ % Instrument Control toolbox (i.e. on windows). Defaults to 'EV3'.
+ % channel (numeric > 0): BT-channel of the connected BT-device. Only needed when using
+ % the Instrument Control toolbox (i.e. on windows). Defaults to 1.
% timeOut (numeric >= 0): seconds after which a timeout-error occurs if no packet could be
- % read.
+ % read. Defaults to 10.
% backend ('serial'|'instrumentControl'): Backend this implementation is based on. Is
- % automatically chosend depending on the OS ('serial' for linux/mac,
- % 'instrumentControl' for windows).
+ % automatically chosen depending on the OS. Defaults to 'serial' on linux/mac
+ % systems, and to 'instrumentControl' on windows systems.
+ %
+ %
+ % Examples:
+ % % Connecting on windows |br|
+ % commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1); % |br|
+ % % Connecting on windows using MATLABs default serial port implementation for testing |br|
+ % commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1, 'backend', 'serial'); % |br|
+ % % Connecting on mac/linux |br|
+ % commHandle = btBrickIO('serPort', '/dev/rfcomm0'); % |br|
%
properties
% debug (bool): If true, each open/close/read/write-call will be noted in the console.
+ % Defaults to false.
debug;
- % Path to the serial-port object (default: '/dev/rfcomm0'). Only
- % needed when using MATLAB's serial class (i.e. on linux/mac).
+ % serialPort (string): Path to the serial-port object. Defaults to '/dev/rfcomm0'.
+ % Only needed when using MATLAB's serial class (i.e. on linux/mac).
serialPort;
- % deviceName (string): Name of the BT-device = the brick (default: 'EV3'). Only
- % needed when using the Instrument Control toolbox (i.e. on windows).
+ % deviceName (string): Name of the BT-device = the brick. Defaults to 'EV3'.
+ % Only needed when using the Instrument Control toolbox (i.e. on windows).
deviceName;
- % channel (numeric > 0): BT-channel of the connected BT-device (default: 1). Only
- % needed when using the Instrument Control toolbox (i.e. on windows).
+ % channel (numeric > 0): BT-channel of the connected BT-device. Defaults to 1.
+ % Only needed when using the Instrument Control toolbox (i.e. on windows).
channel;
- % timeOut (numeric > 0): seconds after which a timeout-error occurs if no packet could be
- % read.
+ % timeOut (numeric > 0): Seconds after which a timeout-error occurs if no packet could be read.
+ % Defaults to 10.
timeOut;
- % backend ('serial'|'instrumentControl'): Backend this implementation is based on. Is
- % automatically chosend depending on the OS ('serial' for linux/mac,
- % 'instrumentControl' for windows).
+ % backend ('serial'|'instrumentControl'): Backend this implementation is based on.
+ % Is automatically chosen depending on the OS. Defaults to 'serial' on linux/mac
+ % systems, and to 'instrumentControl' on windows systems.
backend;
end
- properties (Access = 'protected')
- % connection handle
- handle
+ properties (Access = protected)
+ % handle: Connection handle to the device
+ handle;
end
methods
- function brickIO = btBrickIO(brickIO, varargin)
- %btBrickIO.btBrickIO Create a btBrickIO object
+ function brickIO = btBrickIO(varargin)
+ % Create a btBrickIO object
%
- % btbrick = btBrickIO(debug,serialPort) is an object which
- % initialises and opens a bluetooth connection between MATLAB
- % and the brick.
-
- p = inputParser();
- p.KeepUnmatched = 1;
-
- p.addOptional('debug', 0);
- p.addOptional('serPort', '/dev/rfcomm0');
- p.addOptional('deviceName', 'EV3');
- p.addOptional('channel', 1);
- p.addOptional('timeOut', 10);
- if(ispc && license('test', 'instr_control_toolbox'))
- p.addOptional('backend', 'instrumentControl');
- else
- p.addOptional('backend', 'serial');
- end
+ % Arguments:
+ % varargin: Any number of property names as strings, each followed by the
+ % desired value.
+ %
+ % Examples:
+ % % Connecting on windows
+ % commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1);
+ % % Connecting on windows using MATLABs default serial port implementation for testing
+ % commHandle = btBrickIO('deviceName', 'MyEV3', 'channel', 1, 'backend', 'serial');
+ % % Connecting on mac/linux
+ % commHandle = btBrickIO('serPort', '/dev/rfcomm0');
+ %
+ % See also BTBRICKIO.SETPROPERTIES
- p.parse(varargin{:});
-
- brickIO.debug = p.Results.debug;
- brickIO.serialPort = p.Results.serPort;
- brickIO.deviceName = p.Results.deviceName;
- brickIO.channel = p.Results.channel;
- brickIO.timeOut = p.Results.timeOut;
- brickIO.backend = p.Results.backend;
+ brickIO.setProperties(varargin{:});
if brickIO.debug > 0
- fprintf('btBrickIO init\n');
+ fprintf('(DEBUG) btBrickIO init\n');
end
% Set the connection handle
@@ -112,17 +111,15 @@ classdef btBrickIO < BrickIO
end
end
- % Open the connection handle
+ % Open the connection
brickIO.open;
end
function delete(brickIO)
- %btBrickIO.delete Delete the btBrickIO object
- %
- % delete(brickIO) closes the bluetooth connection handle
+ % Delete the btBrickIO object and closes the connection
if brickIO.debug > 0
- fprintf('btBrickIO delete\n');
+ fprintf('(DEBUG) (BT delete\n');
end
% Disconnect
@@ -134,13 +131,10 @@ classdef btBrickIO < BrickIO
end
function open(brickIO)
- %btBrickIO.open Open the btBrickIO object
- %
- % btBrickIO.open() opens the bluetooth connection to the brick
- % using fopen.
+ % Opens the bluetooth connection to the brick using fopen.
if brickIO.debug > 0
- fprintf('btBrickIO open\n');
+ fprintf('(DEBUG) (BT open)\n');
end
% Open the bt handle
@@ -165,13 +159,10 @@ classdef btBrickIO < BrickIO
end
function close(brickIO)
- %btBrickIO.close Close the btBrickIO object
- %
- % btBrickIO.close() closes the bluetooth connection the brick
- % using fclose.
+ % Closes the bluetooth connection the brick using fclose.
if brickIO.debug > 0
- fprintf('btBrickIO close\n');
+ fprintf('(DEBUG) (BT close) \n');
end
try
@@ -189,13 +180,10 @@ classdef btBrickIO < BrickIO
end
function rmsg = read(brickIO)
- %btBrickIO.read Read data from the btBrickIO object
- %
- % rmsg = btBrickIO.read() reads data from the brick through
- % bluetooth via fread and returns the data in uint8 format.
+ % Reads data from the brick through bluetooth via fread and returns the data in uint8 format.
if brickIO.debug > 0
- fprintf('btBrickIO read\n');
+ fprintf('(DEBUG) (BT read) \n');
end
try
@@ -225,17 +213,13 @@ classdef btBrickIO < BrickIO
end
function write(brickIO,wmsg)
- %btBrickIO.write Write data to the btBrickIO object
- %
- % btBrickIO.write(wmsg) writes data to the brick through
- % bluetooth.
+ % Writes data to the brick through bluetooth via fwrite.
%
- % Notes::
- % - wmsg is the data to be written to the brick via bluetooth
- % in uint8 format.
+ % Arguments:
+ % wmsg (uint8 array): Data to be written to the brick via bluetooth
if brickIO.debug > 0
- fprintf('btBrickIO write\n');
+ fprintf('(DEBUG) btBrickIO write\n');
end
try
@@ -284,5 +268,38 @@ classdef btBrickIO < BrickIO
brickIO.backend = backend;
end
+ function setProperties(brickIO, varargin)
+ % Sets multiple btBrickIO properties at once using MATLAB's inputParser.
+ %
+ % The syntax is as follows: commHandle.setProperties('propertyName1',
+ % propertyValue1, 'propertyName2', propertyValue2, ...). Valid, optional properties
+ % are: debug, serPort, deviceName, channel, timeout.
+ %
+ % See also BTBRICKIO.DEBUG, BTBRICKIO.SERIALPORT, BTBRICKIO.DEVICENAME,
+ % BTBRICKIO.CHANNEL, BTBRICKIO.TIMEOUT
+
+ p = inputParser();
+ p.KeepUnmatched = 1;
+
+ p.addOptional('debug', false);
+ p.addOptional('serPort', '/dev/rfcomm0');
+ p.addOptional('deviceName', 'EV3');
+ p.addOptional('channel', 1);
+ p.addOptional('timeOut', 10);
+ if(ispc && license('test', 'instr_control_toolbox')) % Choose 'backend'-default depending on OS
+ p.addOptional('backend', 'instrumentControl');
+ else
+ p.addOptional('backend', 'serial');
+ end
+
+ p.parse(varargin{:});
+
+ brickIO.debug = p.Results.debug;
+ brickIO.serialPort = p.Results.serPort;
+ brickIO.deviceName = p.Results.deviceName;
+ brickIO.channel = p.Results.channel;
+ brickIO.timeOut = p.Results.timeOut;
+ brickIO.backend = p.Results.backend;
+ end
end
end
diff --git a/source/hidapi.m b/source/hidapi.m
index 0815abd98b110b92bcfee2d168723c626611c596..a4a35a5bfb0d1b7486943ab7776f1bbc62176b38 100755
--- a/source/hidapi.m
+++ b/source/hidapi.m
@@ -1,92 +1,68 @@
-%hidpi Interface to the hidapi library
-%
-% Methods::
-% hidapi Constructor, loads the hidapi library
-% delete Destructor, closes any open hid connection
-%
-% open Open the hid device with vendor and product ID
-% close Close the hid device connection
-% read Read data from the hid device
-% write Write data to the hid device
-%
-% getHIDInfoString Get the relevant hid info from the hid device
-% getManufacturersString Get the manufacturers string from the hid device
-% getProductString Get the product string from the hid device
-% getSerialNumberString Get the serial number from the hid device
-% setNonBlocking Set non blocking hid read
-% init Init the hidapi (executed in open by default)
-% exit Exit the hidapi
-% error Return the error string
-% enumerate Enumerate the connected hid devices
-%
-%
-% Example::
-% hid = hidapi(1,1684,0005,1024,1025)
-%
-% Notes::
-% - Developed from the hidapi available from http://www.signal11.us/oss/hidapi/
-% - Windows: need the hidapi.dll file
-% - Mac: need the hidapi.dylib file. Will also need Xcode installed to run load library
-% - Linux: will need to compile on host system and copy the resulting .so file
-
classdef hidapi < handle
+ % Interface to the hidapi library
+ %
+ % Notes:
+ % * Developed from the hidapi available at http://www.signal11.us/oss/hidapi/.
+ % * Windows: hidapi.dll needed.
+ % * Mac: hidapi.dylib needed. In addition, Xcode has to be installed.
+ % * Linux: hidapi has to be compiled on host-system.
+ %
+ % Attributes:
+ % handle ():
+ % vendorID (numeric): Vendor-ID of the USB device.
+ % productID (numeric): Product-ID of the USB device.
+ % nReadBuffer (numeric): Read-buffer size in bytes.
+ % nWriteBuffer (numeric): Write-buffer size in bytes. Needs to be 1 Byte bigger than
+ % actual packet.
+ % slib (string): Name of shared library file (without file extension). Defaults to
+ % 'hidapi'.
+ % sheader (string): Name of shared library header. Defaults to 'hidapi.h'.
+ %
+ % Example:
+ % hidHandle = hidapi(1684,0005,1024,1025); %|br|
+ %
+
properties
- % connection handle
+ % handle: Connection handle to the device.
handle
- % debug input
- debug = 0;
- % vendor ID
- vendorID = 0;
- % product ID
- productID = 0;
- % read buffer size
- nReadBuffer = 256;
- % write buffer size
- nWriteBuffer = 256;
- % shared library
+ % vendorID (numeric): Vendor-ID of the USB device.
+ vendorID;
+ % productID (numeric): Product-ID of the USB device.
+ productID;
+ % nReadBuffer (numeric): Read-buffer size in bytes.
+ nReadBuffer;
+ % nWriteBuffer (numeric): Write-buffer size in bytes.
+ % Needs to be 1 Byte bigger than actual packet.
+ nWriteBuffer;
+ % slib (string): Name of shared library file (without file extension). Defaults to 'hidapi'.
slib = 'hidapi';
- % shared library header
+ % sheader (string): Name of shared library header. Defaults to 'hidapi.h'.
sheader = 'hidapi.h';
-
end
methods
%% Constructor
- function hid = hidapi(debug,vendorID,productID,nReadBuffer,nWriteBuffer)
- %hidapi.hidapi Create a hidapi library interface object
+ function hid = hidapi(vendorID,productID,nReadBuffer,nWriteBuffer)
+ % Create a hidapi library interface object from the corresponding library
%
- % hid = hidapi(debug,vendorID,productID,nReadBuffer,nWriteButter)
- % is an object which initialises the hidapi from the corresponding
- % OS library. Other parameters are also initialised. Some OS
- % checking is required in this function to load the correct
- % library.
+ % Arguments:
+ % vendorID (numeric): Vendor-ID of the USB device in decimal.
+ % productID (numeric): Product-ID of the USB device in decimal.
+ % nReadBuffer (numeric): Read-buffer size in bytes.
+ % nWriteBuffer (numeric): Write-buffer size in bytes. Needs to be 1 Byte bigger than
+ % actual packet.
%
- % Throws::
- % LoadingLibraryError Could not load .dll/.dylib/.so-file of hidapi
- % InvalidFileNameOrFileMissing Either file names given were wrong or the files
- % are missing (thunk files, proto files, ...)
+ % Raises:
+ % LoadingLibraryError: Could not load .dll/.dylib/.so-file of hidapi.
+ % InvalidFileNameOrFileMissing: Either file names given were wrong or the files
+ % are missing (thunk files, proto files, ...).
%
- % Notes::
- % - debug is a flag specifying output printing (0 or 1).
- % - vendorID is the vendor ID of the hid device (decimal not hex).
- % - productID is the product ID of the hid device (decimal not hex).
- % - nReadBuffer is the length of the read buffer.
- % - nWriteBuffer is the length of the write buffer.
-
- hid.debug = debug;
-
- if hid.debug > 0
- fprintf('hidapi init\n');
- end
-
- if nargin > 1
- hid.vendorID = vendorID;
- hid.productID = productID;
- hid.nReadBuffer = nReadBuffer;
- hid.nWriteBuffer = nWriteBuffer;
- end
+ hid.vendorID = vendorID;
+ hid.productID = productID;
+ hid.nReadBuffer = nReadBuffer;
+ hid.nWriteBuffer = nWriteBuffer;
% Disable warnings
warning('off','MATLAB:loadlibrary:TypeNotFoundForStructure');
@@ -132,81 +108,37 @@ classdef hidapi < handle
throw(exception);
end
+
% Remove the library extension
hid.slib = 'hidapiusb';
- if hid.debug > 0
- libfunctionsview('hidapiusb');
- end
+% if hid.debug > 0
+% libfunctionsview('hidapiusb');
+% end
end
function delete(hid)
- %hidapi.delete Delete hid object
+ % Close an open hid device connection and delete the object.
%
- % delete(hid) closes an open hid device connection. This function is called
- % automatically when deleting.
- %
- % Notes::
- % - You cannot unloadlibrary in this function as the object is
- % still present in the MATLAB work space.
-
- if hid.debug > 0
- fprintf('hidapi delete\n');
- end
+ % Notes:
+ % * You cannot unloadlibrary in this function as the object is still present
+ % in the MATLAB work space. Todo: Any alternative?
end
- %% Wrapper
-
- function str = getManufacturersString(hid)
- %hidapi.getManufacturersString get manufacturers string from hid object
- %
- % hid.getManufacturersString() returns the manufacturers string
- % from the hid device using getHIDInfoString.
-
- str = getHIDInfoString(hid,'hid_get_manufacturer_string');
- end
-
- function str = getProductString(hid)
- %hidapi.getProductString get product string from hid object
- %
- % hid.getProductString() returns the product string from the
- % hid device using getProductString.
-
- str = getHIDInfoString(hid,'hid_get_product_string');
- end
-
- function str = getSerialNumberString(hid)
- %hidapi.getSerialNumberString get product string from hid object
- %
- % hid.getSerialNumberString() returns the serial number string
- % from the hid device using getSerialNumberString.
-
- str = getHIDInfoString(hid,'hid_get_serial_number_string');
- end
-
- %% Wrapped HIDAPI-Functions
+ %% HIDAPI-Functions
function open(hid)
- %hidapi.open Open a hid object
- %
- % hid.open() opens a connection with a hid device with the
- % initialised values of vendorID and productID from the hidapi
- % constructor.
+ % Open a connection with a hid device
%
- % Throws::
- % CommError Error during communication with device
+ % Throws:
+ % CommError: Error during communication with device
%
- % Notes::
- % - The pointer return value from this library call is always
- % null so it is not possible to know if the open was
- % successful.
- % - The final parameter to the open hidapi library call has
- % different types depending on OS. In windows it is uint16 but
- % linux/mac it is int32.
-
- if hid.debug > 0
- fprintf('hidapi open\n');
- end
+ % Notes:
+ % * Gets called automatically when creating an hidapi-object.
+ % * The pointer return value from this library call is always null so it is not
+ % possible to know if the open was successful.
+ % * The final parameter to the open hidapi library call has different types
+ % depending on OS. On windows it is uint16, on linux/mac int32.
% Create a null pointer for the hid_open function (depends on OS)
if (ispc == 1)
@@ -228,18 +160,13 @@ classdef hidapi < handle
end
function close(hid)
- %hidapi.close Close hid object
- %
- % hid.close() closes the connection to a hid device. Gets called automatically
- % when deleting the hid instance.
+ % Close the connection to a hid device.
%
- % Throws::
- % InvalidHandle Handle to USB-device not valid
+ % Throws:
+ % InvalidHandle: Handle to USB-device not valid
%
-
- if hid.debug > 0
- fprintf('hidapi close\n');
- end
+ % Notes:
+ % * Gets called automatically when deleting the hidapi instance.
% (MMI) Check if pointer is (unexpectedly) already invalidated
assert(isLibPointerValid(hid.handle)==1, ...
@@ -253,24 +180,18 @@ classdef hidapi < handle
hid.handle = [];
end
- % @ MMI
+ % Implemented @ MMI
function rmsg = read_timeout(hid, timeOut)
- %hidapi.read_timeout Read from hid object with a time-out
+ % Read from a hid device with a timeout and return the read bytes.
%
- % rmsg = hid.read_timeout() reads from a hid device and returns the
- % read bytes. Will print an error if no data was read during the time-out period.
+ % Arguments:
+ % timeOut (numeric >= 0): Milliseconds after which a timeout-error occurs if no
+ % packet could be read.
%
- % Arguments::
- % timeOut time-out period in milliseconds
+ % Throws:
+ % CommError: Error during communication with device
+ % InvalidHandle: Handle to USB-device not valid
%
- % Throws::
- % CommError Error during communication with device
- % InvalidHandle Handle to USB-device not valid
- %
-
- if hid.debug > 0
- fprintf('hidapi read_timeout\n');
- end
% Read buffer of nReadBuffer length
buffer = zeros(1,hid.nReadBuffer);
@@ -309,19 +230,15 @@ classdef hidapi < handle
end
function rmsg = read(hid)
- %hidapi.read Read from hid object
+ % Read from a hid device and returns the read bytes.
%
- % rmsg = hid.read() reads from a hid device and returns the
- % read bytes. Will print an error if no data was read.
+ % Throws:
+ % CommError: Error during communication with device
+ % InvalidHandle: Handle to USB-device not valid
+ %
+ % Notes:
+ % * Will print an error if no data was read.
%
- % Throws::
- % CommError Error during communication with device
- % InvalidHandle Handle to USB-device not valid
- %
-
- if hid.debug > 0
- fprintf('hidapi read\n');
- end
% Read buffer of nReadBuffer length
buffer = zeros(1,hid.nReadBuffer);
@@ -360,21 +277,17 @@ classdef hidapi < handle
end
function write(hid,wmsg,reportID)
- %hidapi.write Write to hid object
+ % Write to a hid device.
%
- % hid.write() writes to a hid device. Will print an error if
- % there is a mismatch between the buffer size and the reported
- % number of bytes written.
+ % Throws:
+ % CommError: Error during communication with device
+ % InvalidHandle: Handle to USB-device not valid
%
- % Throws::
- % CommError Error during communication with device
- % InvalidHandle Handle to USB-device not valid
+ % Notes:
+ % * Will print an error if there is a mismatch between the buffer size and the
+ % reported number of bytes written.
%
- if hid.debug > 0
- fprintf('hidapi write\n');
- end
-
% Append a 0 at the front for HID report ID
wmsg = [reportID wmsg];
@@ -384,7 +297,7 @@ classdef hidapi < handle
% anything, and I would prefer sending short messages over long ones.
% Further testing may be required, so for now I don't change a thing.
% (MMI) Update:: Okay, so under Windows, this line IS necessary, as well as the
- % fixed write-buffer size of 1025 bytes (== wMaxPacketSize+1; smaller packets fail;
+ % fixed write-buffer size of 1025 bytes for EV3 (== wMaxPacketSize+1; smaller packets fail;
% bigger packets do get handled by the brick, but the second assertion below will fail).
wmsg(end+(hid.nWriteBuffer-length(wmsg))) = 0;
@@ -406,21 +319,19 @@ classdef hidapi < handle
end
function str = getHIDInfoString(hid,info)
- %hidapi.getHIDInfoString get hid information from object
+ % Get the corresponding hid info from the hid device.
%
- % hid.getHIDInfoString(info) gets the corresponding hid info
- % from the hid device
+ % Throws:
+ % CommError: Error during communication with device
+ % InvalidHandle: Handle to USB-device not valid
%
- % Throws::
- % CommError Error during communication with device
- % InvalidHandle Handle to USB-device not valid
+ % Notes:
+ % * Info is the hid information string.
+ %
+ % See also HIDAPI.GETMANUFACTURERSSTRING, HIDAPI.GETPRODUCTSTRING,
+ % HIDAPI.GETSERIALNUMBERSTRING.
%
- % Notes::
- % - info is the hid information string.
- if hid.debug > 0
- fprintf(['hidapi ' info '\n']);
- end
% Read buffer nReadBuffer length
buffer = zeros(1,hid.nReadBuffer);
% Create a libpointer (depends on OS)
@@ -448,21 +359,15 @@ classdef hidapi < handle
end
function setNonBlocking(hid,nonblock)
- %hidapi.setNonBlocking sets non blocking on the hid object
+ % Set the non blocking flag on the hid device connection.
%
- % hid.setNonBlocking(nonblock) sets the non blocking flag on
- % the hid device connection.
+ % Arguments:
+ % nonblock (numeric in {0,1}): 0 disables nonblocking, 1 enables nonblocking
%
- % Throws::
- % CommError Error during communication with device
- % InvalidHandle Handle to USB-device not valid
+ % Throws:
+ % CommError: Error during communication with device
+ % InvalidHandle: Handle to USB-device not valid
%
- % Notes::
- % nonblock - 0 disables nonblocking, 1 enables nonblocking
-
- if hid.debug > 0
- fprintf('hidapi setNonBlocking\n');
- end
% (MMI) Check if pointer is (unexpectedly) already invalidated
assert(isLibPointerValid(hid.handle)==1, ...
@@ -479,20 +384,15 @@ classdef hidapi < handle
end
function init(hid)
- %hidapi.init Init hidapi
+ % Inits the hidapi library.
%
- % hid.init() inits the hidapi library. This is called
- % automatically in the library itself with the open function.
+ % Throws:
+ % CommError: Error during communication with device
%
- % Throws::
- % CommError Error during communication with device
+ % Notes:
+ % * This is called automatically in the library itself with the open function. You
+ % should not have to call this function directly.
%
- % Notes::
- % - You should not have to call this function directly.
-
- if hid.debug > 0
- fprintf('hidapi init\n');
- end
warning([hid.slib, ':', 'RedundantCall'], ...
'The init-function gets called automatically when connecting!');
@@ -511,16 +411,12 @@ classdef hidapi < handle
%
% hid.exit() exits the hidapi library.
%
- % Throws::
- % CommError Error during communication with device
+ % Throws:
+ % CommError: Error during communication with device
%
% Notes::
% - You should not have to call this function directly.
- if hid.debug > 0
- fprintf('hidapi exit\n');
- end
-
warning([hid.slib, ':', 'RedundantCall'], ...
'The exit-function gets called automatically when disconnecting!');
@@ -534,21 +430,15 @@ classdef hidapi < handle
end
function str = error(hid)
- %hidapi.error Output the hid object error string
+ % Return the hid device error string if a function produced an error.
%
- % hid.error() returns the hid device error string if a function
- % produced an error.
+ % Throws:
+ % InvalidHandle: Handle to USB-device not valid
%
- % Throws::
- % InvalidHandle Handle to USB-device not valid
- %
- % Notes::
- % - This function must be called explicitly if you think an
- % error was generated from the hid device.
-
- if hid.debug > 0
- fprintf('hidapi error\n');
- end
+ % Notes:
+ % * This function must be called explicitly if you think an error was generated
+ % from the hid device.
+ %
% (MMI) Check if pointer is (unexpectedly) already invalidated
assert(isLibPointerValid(hid.handle)==1, ...
@@ -559,34 +449,44 @@ classdef hidapi < handle
end
function str = enumerate(hid,vendorID,productID)
- %hidapi.enumerate Enumerates the hid object
+ % Enumerates the info about the hid device with the given vendorID and productID
+ % and returns a string with the returned hid information.
%
- % str = hid.enumerate(vendorID,productID) enumerates the hid
- % device with the given vendorID and productID and returns a
- % string with the returned hid information.
+ % Arguments:
+ % vendorID (numeric): Vendor-ID of the USB device in decimal.
+ % productID (numeric): Product-ID of the USB device in decimal.
+ %
+ % Notes:
+ % * Using a vendorID and productID of (0,0) will enumerate all connected hid
+ % devices.
+ % * MATLAB does not have the hid_device_infoPtr struct so some of the returned
+ % information will need to be resized and cast into uint8 or chars.
%
- % Notes::
- % - vendorID is the vendor ID (in decimal not hex).
- % - productID is the vendor ID (in decimal not hex).
- % - Using a vendorID and productID of (0,0) will enumerate all
- % connected hid devices.
- % - MATLAB does not have the hid_device_infoPtr struct so some
- % of the returned information will need to be resized and cast
- % into uint8 or chars.
-
- if hid.debug > 0
- fprintf('hidapi enumerate\n');
- end
% Enumerate the hid devices
str = calllib(u.slib,'hid_enumerate',uint16(vendorID),uint16(productID));
end
+
+ %% Wrapper
+
+ function str = getManufacturersString(hid)
+ % Get manufacturers string from hid object using getHIDInfoString.
+ str = getHIDInfoString(hid,'hid_get_manufacturer_string');
+ end
+ function str = getProductString(hid)
+ % Get product string from hid object using getProductString.
+ str = getHIDInfoString(hid,'hid_get_product_string');
+ end
+ function str = getSerialNumberString(hid)
+ % Get serial number from hid object using getSerialNumberString.
+ str = getHIDInfoString(hid,'hid_get_serial_number_string');
+ end
end
end
-
+% Implemented @ MMI
function valid = isLibPointerValid(handle)
- %isHandleValid Check whether hid.handle is valid libpointer
+ % Check whether hid.handle is valid libpointer
valid = 0;
if ~isempty(handle)
diff --git a/source/tb_optparse.m b/source/tb_optparse.m
deleted file mode 100755
index 2fedb2b14a51fe749d72f97268a0de2b03513f02..0000000000000000000000000000000000000000
--- a/source/tb_optparse.m
+++ /dev/null
@@ -1,193 +0,0 @@
-%OPTPARSE Standard option parser for Toolbox functions
-%
-% [OPTOUT,ARGS] = TB_OPTPARSE(OPT, ARGLIST) is a generalized option parser for
-% Toolbox functions. It supports options that have an assigned value, boolean
-% or enumeration types (string or int).
-%
-% The software pattern is:
-%
-% function(a, b, c, varargin)
-% opt.foo = true;
-% opt.bar = false;
-% opt.blah = [];
-% opt.choose = {'this', 'that', 'other'};
-% opt.select = {'#no', '#yes'};
-% opt = tb_optparse(opt, varargin);
-%
-% Optional arguments to the function behave as follows:
-% 'foo' sets opt.foo <- true
-% 'nobar' sets opt.foo <- false
-% 'blah', 3 sets opt.blah <- 3
-% 'blah', {x,y} sets opt.blah <- {x,y}
-% 'that' sets opt.choose <- 'that'
-% 'yes' sets opt.select <- 2 (the second element)
-%
-% and can be given in any combination.
-%
-% If neither of 'this', 'that' or 'other' are specified then opt.choose <- 'this'.
-% If neither of 'no' or 'yes' are specified then opt.select <- 1.
-%
-% Note:
-% - that the enumerator names must be distinct from the field names.
-% - that only one value can be assigned to a field, if multiple values
-% are required they must be converted to a cell array.
-%
-% The allowable options are specified by the names of the fields in the
-% structure opt. By default if an option is given that is not a field of
-% opt an error is declared.
-%
-% Sometimes it is useful to collect the unassigned options and this can be
-% achieved using a second output argument
-% [opt,arglist] = tb_optparse(opt, varargin);
-% which is a cell array of all unassigned arguments in the order given in
-% varargin.
-%
-% The return structure is automatically populated with fields: verbose and
-% debug. The following options are automatically parsed:
-% 'verbose' sets opt.verbose <- true
-% 'verbose=2' sets opt.verbose <- 2 (very verbose)
-% 'verbose=3' sets opt.verbose <- 3 (extremeley verbose)
-% 'verbose=4' sets opt.verbose <- 4 (ridiculously verbose)
-% 'debug', N sets opt.debug <- N
-% 'setopt', S sets opt <- S
-% 'showopt' displays opt and arglist
-
-function [opt,others] = tb_optparse(in, argv)
-
- arglist = {};
-
- argc = 1;
- opt = in;
- try
- opt.verbose = false;
- opt.debug = 0;
- end
-
- showopt = false;
-
- while argc <= length(argv)
- option = argv{argc};
- assigned = false;
-
- if isstr(option)
-
- switch option
- % look for hardwired options
- case 'verbose'
- opt.verbose = true;
- assigned = true;
- case 'verbose=2'
- opt.verbose = 2;
- assigned = true;
- case 'verbose=3'
- opt.verbose = 3;
- assigned = true;
- case 'verbose=4'
- opt.verbose = 4;
- assigned = true;
- case 'debug'
- opt.debug = argv{argc+1};
- argc = argc+1;
- assigned = true;
- case 'setopt'
- new = argv{argc+1};
- argc = argc+1;
- assigned = true;
-
-
- % copy matching field names from new opt struct to current one
- for f=fieldnames(new)'
- if isfield(opt, f{1})
- opt = setfield(opt, f{1}, getfield(new, f{1}));
- end
- end
- case 'showopt'
- showopt = true;
- assigned = true;
-
- otherwise
- % does the option match a field in the opt structure?
- if isfield(opt, option)
- val = getfield(opt, option);
- if islogical(val)
- % a logical variable can only be set by an option
- opt = setfield(opt, option, true);
- else
- % otherwise grab its value from the next arg
- opt = setfield(opt, option, argv{argc+1});
- argc = argc+1;
- end
- assigned = true;
- elseif length(option)>2 && strcmp(option(1:2), 'no') && isfield(opt, option(3:end))
- val = getfield(opt, option(3:end));
- if islogical(val)
- % a logical variable can only be set by an option
- opt = setfield(opt, option(3:end), false);
- assigned = true;
- end
- else
- % the option doesnt match a field name
- for field=fieldnames(opt)'
- val = getfield(opt, field{1});
- if iscell(val)
- for i=1:length(val)
- if isempty(val{i})
- continue;
- end
- if strcmp(option, val{i})
- opt = setfield(opt, field{1}, option);
- assigned = true;
- break;
- elseif val{i}(1) == '#' && strcmp(option, val{i}(2:end))
- opt = setfield(opt, field{1}, i);
- assigned = true;
- break;
- end
- end
- if assigned
- break;
- end
- end
- end
-
-
- end
- end % switch
- end
- if ~assigned
- % non matching options are collected
- if nargout == 2
- arglist = [arglist argv(argc)];
- else
- if isstr(argv{argc})
- error(['unknown options: ' argv{argc}]);
- end
- end
- end
-
- argc = argc + 1;
- end % while
-
- % if enumerator value not assigned, set the default value
- for field=fieldnames(in)'
- if iscell(getfield(in, field{1})) && iscell(getfield(opt, field{1}))
- val = getfield(opt, field{1});
- if isempty(val{1})
- opt = setfield(opt, field{1}, val{1});
- elseif val{1}(1) == '#'
- opt = setfield(opt, field{1}, 1);
- else
- opt = setfield(opt, field{1}, val{1});
- end
- end
- end
-
- if showopt
- fprintf('Options:\n');
- opt
- arglist
- end
-
- if nargout == 2
- others = arglist;
- end
diff --git a/source/usbBrickIO.m b/source/usbBrickIO.m
index d2c5fb245158cebf803fec35ebef9a796e1b49ef..f4ce6c086a87a6e948eeeb0460246986be7a1d2b 100755
--- a/source/usbBrickIO.m
+++ b/source/usbBrickIO.m
@@ -3,63 +3,75 @@ classdef usbBrickIO < BrickIO
%
% Notes:
% * Uses the hid library implementation in hidapi.m
+ % * The default parameters should always work when you try to connect to an EV3 brick,
+ % so in nearly all use-cases, the constructor does not need any parameters (besides
+ % 'debug' eventually).
%
% Attributes:
% debug (bool): If true, each open/close/read/write-call will be noted in the console.
- % vendorID (numeric): = 0x694 for EV3
- % productID (numeric): = 0x0005 for EV3
- % nReadBuffer (numeric): read buffer size
- % nWriteBuffer (numeric): write buffer size (1 Byte bigger than actual packet)
- % timeOut (numeric >= 0): milliseconds after which a timeout-error occurs if no packet could be
- % read.
+ % Defaults to false.
+ % vendorID (numeric): Vendor-ID of the USB device. Defaults to 0x694 (EV3 vendor ID).
+ % productID (numeric): Product-ID of the USB device. Defaults to 0x0005 (EV3 product ID).
+ % nReadBuffer (numeric): Read-buffer size in bytes. Defaults to 1024.
+ % nWriteBuffer (numeric): Write-buffer size in bytes. Needs to be 1 Byte bigger than
+ % actual packet. Defaults to 1025 (EV3 USB maximum packet size = 1024).
+ % timeOut (numeric >= 0): Milliseconds after which a timeout-error occurs if no packet could be
+ % read. Defaults to 10000.
+ %
+ % Examples:
+ % % Connecting via USB |br|
+ % commHandle = usbBrickIO(); % |br|
+ % % Connecting via USB with enabled debug output |br|
+ % commHandle = usbBrickIO('debug', true); % |br|
%
properties
% debug (bool): If true, each open/close/read/write-call will be noted in the console.
- debug = 0;
- % vendorID (numeric): = 0x694 for EV3
- vendorID = 1684;
- % productID (numeric): = 0x0005 for EV3
- productID = 5;
- % nReadBuffer (numeric): read buffer size
- nReadBuffer = 1024;
- % nWriteBuffer (numeric): write buffer size (1 Byte bigger than actual packet)
- nWriteBuffer = 1025;
- % timeOut (numeric >= 0): milliseconds after which a timeout-error occurs if no packet could be
- % read.
- timeOut = 10000;
+ % Defaults to false.
+ debug;
+ % vendorID (numeric): Vendor-ID of the USB device. Defaults to 0x694 (EV3 vendor ID).
+ vendorID;
+ % productID (numeric): Product-ID of the USB device. Defaults to 0x0005 (EV3 product ID).
+ productID;
+ % nReadBuffer (numeric): Read-buffer size in bytes. Defaults to 1024.
+ nReadBuffer;
+ % nWriteBuffer (numeric): Write-buffer size in bytes. Defaults to 1025 (EV3 USB maximum packet size = 1024).
+ % Needs to be 1 Byte bigger than actual packet.
+ nWriteBuffer;
+ % timeOut (numeric >= 0): Milliseconds after which a timeout-error occurs if no packet could be read. Defaults to 10000.
+ timeOut;
end
- properties (Access = 'protected')
- % connection handle
+ properties (Access = protected)
+ % handle: Connection handle to the device
handle
end
methods
function brickIO = usbBrickIO(varargin)
- %usbBrickIO.usbBrickIO Create a usbBrickIO object
+ % Create an usbBrickIO object
+ %
+ % Arguments:
+ % varargin: Any number of property names as strings, each followed by the
+ % desired value.
+ %
+ % Examples:
+ % % Connecting via USB
+ % commHandle = usbBrickIO();
+ % % Connecting via USB with enabled debug output
+ % commHandle = usbBrickIO('debug', true);
%
- % usbbrick = usbBrickIO(varargin) is an object which
- % initialises a usb connection between MATLAB and the brick
- % using hidapi.m.
- %
- % Notes::
- % - Can take one parameter debug which is a flag specifying
- % output printing (0 or 1).
+ % See also USBBRICKIO.SETPROPERTIES
- if nargin == 0
- brickIO.debug = 0;
- else
- brickIO.debug = varargin{1};
- end
+ brickIO.setProperties(varargin{:});
if brickIO.debug > 0
fprintf('(DEBUG) (USB init)\n');
end
- % Create the usb handle
+ % Set the connection handle
try
- brickIO.handle = hidapi(0,brickIO.vendorID,brickIO.productID, ...
+ brickIO.handle = hidapi(brickIO.vendorID,brickIO.productID, ...
brickIO.nReadBuffer,brickIO.nWriteBuffer);
catch ME
if ~isempty(strfind(ME.identifier, 'InvalidParameterOrFileMissing'))
@@ -84,19 +96,18 @@ classdef usbBrickIO < BrickIO
end
end
- % Open the brick IO connection
+ % Open the connection
brickIO.open;
end
function delete(brickIO)
- %usbBrickIO.delete Delete the usbBrickIO object
- %
- % delete(brickIO) closes the usb connection handle
+ % Delete the usbBrickIO object and closes the connection
if brickIO.debug > 0
fprintf('(DEBUG) (USB delete)\n');
end
+ % Disconnect
try
brickIO.close;
catch
@@ -105,16 +116,13 @@ classdef usbBrickIO < BrickIO
end
function open(brickIO)
- %usbBrickIO.open Open the usbBrickIO object
- %
- % usbBrickIO.open() opens the usb handle through the hidapi
- % interface.
+ % Opens the usb connection to the brick through the hidapi interface.
if brickIO.debug > 0
fprintf('(DEBUG) (USB open)\n');
end
- % Open the usb handle (MMI: and handle possible errors)
+ % Open the usb handle
try
brickIO.handle.open;
catch ME
@@ -135,10 +143,8 @@ classdef usbBrickIO < BrickIO
end
function close(brickIO)
- %usbBrickIO.close Close the usbBrickIO object
- %
- % usbBrickIO.close() closes the usb handle through the hidapi
- % interface.
+ % Closes the usb connection the brick through the hidapi interface.
+
if brickIO.debug > 0
fprintf('(DEBUG) (USB close) \n');
end
@@ -157,14 +163,7 @@ classdef usbBrickIO < BrickIO
end
function rmsg = read(brickIO)
- %usbBrickIO.read Read data from the usbBrickIO object
- %
- % rmsg = usbBrickIO.read() reads data from the brick through
- % usb and returns the data in uint8 format.
- %
- % Notes::
- % - This function is blocking with no time out in the current
- % implementation.
+ % Reads data from the brick through usb using the hidapi interface and returns the data in uint8 format.
if brickIO.debug > 0
fprintf('(DEBUG) (USB read) ');
@@ -208,13 +207,10 @@ classdef usbBrickIO < BrickIO
end
function write(brickIO,wmsg)
- %usbBrickIO.write Write data to the usbBrickIO object
- %
- % usbBrickIO.write(wmsg) writes data to the brick through usb.
+ % Writes data to the brick through usb using the hidapi interface.
%
- % Notes::
- % - wmsg is the data to be written to the brick via usb in
- % uint8 format.
+ % Arguments:
+ % wmsg (uint8 array): Data to be written to the brick via usb
if brickIO.debug > 0
fprintf('(DEBUG) (USB write) ');
@@ -252,5 +248,33 @@ classdef usbBrickIO < BrickIO
brickIO.timeOut = timeOut*1000;
end
+ function setProperties(brickIO, varargin)
+ % Sets multiple usbBrickIO properties at once using MATLAB's inputParser.
+ %
+ % The syntax is as follows: commHandle.setProperties('propertyName1',
+ % propertyValue1, 'propertyName2', propertyValue2, ...). Valid, optional properties
+ % are: debug, vendorID, productID, nReadBuffer, nWriteBuffer, timeOut.
+ %
+ % See also USBBRICKIO.DEBUG, USBBRICKIO.VENDORID, USBBRICKIO.PRODUCTID,
+ % USBBRICKIO.NREADBUFFER, USBBRICKIO.NWRITEBUFFER, USBBRICKIO.TIMEOUT
+
+ p = inputParser();
+
+ p.addOptional('debug', false);
+ p.addOptional('vendorID', 1684);
+ p.addOptional('productID', 5);
+ p.addOptional('nReadBuffer', 1024);
+ p.addOptional('nWriteBuffer', 1025);
+ p.addOptional('timeOut', 10000);
+
+ p.parse(varargin{:});
+
+ brickIO.debug = p.Results.debug;
+ brickIO.vendorID = p.Results.vendorID;
+ brickIO.productID = p.Results.productID;
+ brickIO.nReadBuffer = p.Results.nReadBuffer;
+ brickIO.nWriteBuffer = p.Results.nWriteBuffer;
+ brickIO.timeOut = p.Results.timeOut;
+ end
end
end