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+
+ <span class="target" id="module-source"></span><div class="section" id="ev3">
+<h1>EV3<a class="headerlink" href="#ev3" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.EV3">
+<em class="property">class </em><code class="descclassname">source.</code><code class="descname">EV3</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3" title="Permalink to this definition">¶</a></dt>
+<dd><p>High-level class to work with physical bricks.</p>
+<p>This is the 'central' class (from user's view) when working with this toolbox. It
+delivers a convenient interface for creating a connection to the brick and sending
+commands to it. An EV3-object creates 4 Motor- and 4 Sensor-objects, one for each port.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Creating multiple EV3 objects and connecting them to different physical bricks has not
+been thoroughly tested yet, but seems to work on a first glance.</li>
+</ul>
+<dl class="attribute">
+<dt id="source.EV3.motorA">
+<code class="descname">motorA</code><a class="headerlink" href="#source.EV3.motorA" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>Motor</em> – Motor-object interfacing port A</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.motorB">
+<code class="descname">motorB</code><a class="headerlink" href="#source.EV3.motorB" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>Motor</em> – Motor-object interfacing port B</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.motorC">
+<code class="descname">motorC</code><a class="headerlink" href="#source.EV3.motorC" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>Motor</em> – Motor-object interfacing port C</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.motorD">
+<code class="descname">motorD</code><a class="headerlink" href="#source.EV3.motorD" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>Motor</em> – Motor-object interfacing port D</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.sensor1">
+<code class="descname">sensor1</code><a class="headerlink" href="#source.EV3.sensor1" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 1</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.sensor2">
+<code class="descname">sensor2</code><a class="headerlink" href="#source.EV3.sensor2" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 2</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.sensor3">
+<code class="descname">sensor3</code><a class="headerlink" href="#source.EV3.sensor3" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 3</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.sensor4">
+<code class="descname">sensor4</code><a class="headerlink" href="#source.EV3.sensor4" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>Sensor</em> – Motor-object interfacing port 4</p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.debug">
+<code class="descname">debug</code><a class="headerlink" href="#source.EV3.debug" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric in {0,1,2}</em> – Debug mode. <em>[WRITABLE]</em></p>
+<ul class="simple">
+<li>0: Debug turned off</li>
+<li>1: Debug turned on for EV3-object -> enables feedback in the console about what firmware-commands have been called when using a method</li>
+<li>2: Low-level-Debug turned on -> each packet sent and received is printed to the console</li>
+</ul>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.batteryMode">
+<code class="descname">batteryMode</code><a class="headerlink" href="#source.EV3.batteryMode" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>string in {'Percentage', 'Voltage'}</em> – Mode for reading battery charge.
+<em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.batteryValue">
+<code class="descname">batteryValue</code><a class="headerlink" href="#source.EV3.batteryValue" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Current battery charge. Depending on batteryMode, the reading
+is either in percentage or voltage. <em>[READ-ONLY]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.EV3.isConnected">
+<code class="descname">isConnected</code><a class="headerlink" href="#source.EV3.isConnected" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> – True if virtual brick-object is connected to physical one. <em>[READ-ONLY]</em></p>
+</dd></dl>
+
+<p class="rubric">Examples</p>
+<p>b = EV3(); <br />
+b.connect('usb'); <br />
+ma = b.motorA; <br />
+ma.setProperties('power', 50, 'limitValue', 720); <br />
+ma.start(); <br />
+% fun <br />
+b.sensor1.value <br />
+b.waitFor(); <br />
+b.beep(); <br />
+delete b; <br /></p>
+<dl class="method">
+<dt id="source.EV3.beep">
+<code class="descname">beep</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.beep" title="Permalink to this definition">¶</a></dt>
+<dd><p>Plays a 'beep'-tone on brick.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This equals playTone(10, 1000, 100) (Wraps the same opCode in comm-layer)</li>
+</ul>
+<p class="rubric">Example</p>
+<p>b = EV3(); <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+b.beep(); <br /></p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.EV3.connect">
+<code class="descname">connect</code><span class="sig-paren">(</span><em>ev3</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.connect" title="Permalink to this definition">¶</a></dt>
+<dd><p>Connects EV3-object and its Motors and Sensors to physical brick.</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>connectionType</strong> (<em>string in {'bt', 'usb'}</em>) – Connection type</li>
+<li><strong>serPort</strong> (<em>string in {'/dev/rfcomm1', '/dev/rfcomm2', ...}</em>) – Path to serial port
+(if 'bt')</li>
+<li><strong>beep</strong> (<em>bool</em>) – If true, EV3 beeps if connection has been established</li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Examples</p>
+<p>% Setup bluetooth connection via com-port 0 <br />
+b = EV3(); <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+% Setup usb connection, beep when connection has been established
+b = EV3(); <br />
+b.connect('usb', 'beep', 'on', ); <br /></p>
+<p>Check connection</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.EV3.disconnect">
+<code class="descname">disconnect</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.disconnect" title="Permalink to this definition">¶</a></dt>
+<dd><p>Disconnects EV3-object and its Motors and Sensors from physical brick.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Gets called automatically when EV3-object is destroyed.</li>
+</ul>
+<p class="rubric">Example</p>
+<p>b = EV3();
+b.connect('bt', 'serPort', '/dev/rfcomm0');
+% do stuff
+b.disconnect();</p>
+<p>Reset motors and sensors before disconnecting</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.EV3.playTone">
+<code class="descname">playTone</code><span class="sig-paren">(</span><em>ev3</em>, <em>volume</em>, <em>frequency</em>, <em>duration</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.playTone" title="Permalink to this definition">¶</a></dt>
+<dd><p>Plays tone on brick.</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>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>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Example</p>
+<p>b = EV3(); <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+b.playTone(40, 5000, 1000); % Plays tone with 40% volume and 5000Hz for 1
+second. <br /></p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.EV3.setProperties">
+<code class="descname">setProperties</code><span class="sig-paren">(</span><em>ev3</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.setProperties" title="Permalink to this definition">¶</a></dt>
+<dd><p>Set multiple EV3 properties at once using MATLAB's inputParser.</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>debug</strong> (<em>numeric in {0,1,2}</em>) – see EV3.debug <em>[OPTIONAL]</em></li>
+<li><strong>batteryMode</strong> (<em>string in {'Voltage'/'Percentage'}</em>) – see EV3.batteryMode <em>[OPTIONAL]</em></li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Example</p>
+<p>b = EV3(); <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+b.setProperties('debug', 'on', 'batteryMode', 'Voltage'); <br />
+% Instead of: b.debug = 'on'; b.batteryMode = 'Voltage'; <br /></p>
+<p>See also EV3.DEBUG, EV3.BATTERYMODE</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.EV3.stopAllMotors">
+<code class="descname">stopAllMotors</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.stopAllMotors" title="Permalink to this definition">¶</a></dt>
+<dd><p>Sends a stop-command to all motor-ports</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.EV3.stopTone">
+<code class="descname">stopTone</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.stopTone" title="Permalink to this definition">¶</a></dt>
+<dd><p>Stops tone currently played</p>
+<p class="rubric">Example</p>
+<p>b = EV3(); <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+b.playTone(10,100,100000000); % Accidentally given wrong tone duration :) <br />
+b.stopTone(); % Stops tone immediately. <br /></p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.EV3.tonePlayed">
+<code class="descname">tonePlayed</code><span class="sig-paren">(</span><em>ev3</em><span class="sig-paren">)</span><a class="headerlink" href="#source.EV3.tonePlayed" title="Permalink to this definition">¶</a></dt>
+<dd><p>Tests if tone is currently played.</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">Returns:</th><td class="field-body"><strong>status</strong> – True if a tone is being played</td>
+</tr>
+<tr class="field-even field"><th class="field-name">Return type:</th><td class="field-body">bool</td>
+</tr>
+</tbody>
+</table>
+<dl class="docutils">
+<dt>Example</dt>
+<dd>b = EV3(); <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+b.playTone(10, 100, 1000); <br />
+pause(0.5); <br />
+b.tonePlayed() -> Outputs 1 to console. <br /></dd>
+</dl>
+</dd></dl>
+
+</dd></dl>
+
+</div>
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+ <span class="target" id="module-source"></span><div class="section" id="motor">
+<h1>Motor<a class="headerlink" href="#motor" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.Motor">
+<em class="property">class </em><code class="descclassname">source.</code><code class="descname">Motor</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor" title="Permalink to this definition">¶</a></dt>
+<dd><p>High-level class to work with motors.</p>
+<p>This class is supposed to ease the use of the brick's motors. It is possible to set all
+kinds of parameters, request the current status of the motor ports and of course send
+commands to the brick to be executed on the respective port.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>You don't need to create instances of this class. The EV3-class automatically creates
+instances for each motor port, and you can work with them via the EV3-object.</li>
+<li>The Motor-class represents motor ports, not individual motors!</li>
+<li>If you start a motor with power=0, the internal state will still be set to
+'isRunning'</li>
+</ul>
+<dl class="attribute">
+<dt id="source.Motor.power">
+<code class="descname">power</code><a class="headerlink" href="#source.Motor.power" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric in [-100, 100]</em> – Power level of motor in percent. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.speedRegulation">
+<code class="descname">speedRegulation</code><a class="headerlink" href="#source.Motor.speedRegulation" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> – Speed regulation turned on or off. When turned on, motor will
+try to 'hold' its speed at given power level, whatever the load. In this mode, the
+highest possible speed depends on the load and mostly goes up to around 70-80 (at
+this point, the Brick internally input 100% power). When turned off, motor will
+constantly input the same power into the motor. The resulting speed will be
+somewhat lower, depending on the load. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.smoothStart">
+<code class="descname">smoothStart</code><a class="headerlink" href="#source.Motor.smoothStart" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric s. t. smoothStart+smoothStop < limitValue</em> – Degrees/Time
+indicating how far/long the motor should smoothly start. Depending on limitMode,
+the input is interpreted either in degrees or milliseconds. The first
+{smoothStart}-milliseconds/degrees of limitValue the motor will slowly accelerate
+until reaching its defined speed. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.smoothStop">
+<code class="descname">smoothStop</code><a class="headerlink" href="#source.Motor.smoothStop" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric s. t. smoothStart+smoothStop < limitValue</em> – Degrees/Time
+indicating how far/long the motor should smoothly stop. Depending on limitMode, the
+input is interpreted either in degrees or milliseconds. The last
+[smoothStop]-milliseconds/degrees of limitValue the motor will slowly slow down
+until it has stopped. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.limitValue">
+<code class="descname">limitValue</code><a class="headerlink" href="#source.Motor.limitValue" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric>=0</em> – Degrees/Time indicating how far/long the motor should run.
+Depending on limitMode, the input is interpreted either in degrees or
+milliseconds. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.limitMode">
+<code class="descname">limitMode</code><a class="headerlink" href="#source.Motor.limitMode" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>'Tacho'|'Time'</em> – Mode for motor limit. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.brakeMode">
+<code class="descname">brakeMode</code><a class="headerlink" href="#source.Motor.brakeMode" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>'Brake'|'Coast'</em> – Action done when stopping. If 'Coast', the motor will (at
+tacholimit, if ~=0) coast to a stop. If 'Brake', the motor will stop immediately
+(at tacholimit, if ~=0) and hold the brake. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.debug">
+<code class="descname">debug</code><a class="headerlink" href="#source.Motor.debug" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> – Debug turned on or off. In debug mode, everytime a command is passed to
+the sublayer ('communication layer'), there is feedback in the console about what
+command has been called. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.isRunning">
+<code class="descname">isRunning</code><a class="headerlink" href="#source.Motor.isRunning" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> – True if motor is running. <em>[READ-ONLY]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.tachoCount">
+<code class="descname">tachoCount</code><a class="headerlink" href="#source.Motor.tachoCount" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Current tacho count. <em>[READ-ONLY]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.currentSpeed">
+<code class="descname">currentSpeed</code><a class="headerlink" href="#source.Motor.currentSpeed" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Current speed of motor. If speedRegulation=on this should equal power,
+otherwise it will probably be lower than that. <em>[READ-ONLY]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Motor.type">
+<code class="descname">type</code><a class="headerlink" href="#source.Motor.type" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>DeviceType</em> – Type of connected device if any. <em>[READ-ONLY]</em></p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Motor.internalReset">
+<code class="descname">internalReset</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.internalReset" title="Permalink to this definition">¶</a></dt>
+<dd><p>Resets internal tacho count. Use this if motor behaves weird (i.e. not starting at all, or not correctly
+running to limitValue)</p>
+<p>The internal tacho count is used for positioning the motor. When the
+motor is running with a tacho limit, internally it uses another counter than the
+one read by tachoCount. This internal tacho count needs to be reset if you
+physically change the motor's position or it coasted into a stop. If the motor's
+brakemode is 'Coast', this function is called automatically.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>A better name would probably be resetPosition...</li>
+<li>Gets called automatically when starting the motor and the internal tacho</li>
+</ul>
+<p>count is > 0</p>
+<p>See also MOTOR.RESETTACHOCOUNT</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Motor.resetTachoCount">
+<code class="descname">resetTachoCount</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.resetTachoCount" title="Permalink to this definition">¶</a></dt>
+<dd><p>Resets tachocount</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Motor.setBrake">
+<code class="descname">setBrake</code><span class="sig-paren">(</span><em>motor</em>, <em>brake</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.setBrake" title="Permalink to this definition">¶</a></dt>
+<dd><p>Apply or release brake of motor</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>brake</strong> (<em>bool</em>) – If true, brake will be pulled</td>
+</tr>
+</tbody>
+</table>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Motor.setProperties">
+<code class="descname">setProperties</code><span class="sig-paren">(</span><em>motor</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.setProperties" title="Permalink to this definition">¶</a></dt>
+<dd><p>Sets multiple Motor properties at once using MATLAB's inputParser.</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>debug</strong> (<em>bool</em>) – </li>
+<li><strong>smoothStart</strong> (<em>numeric in [0, limitValue]</em>) – </li>
+<li><strong>smoothStop</strong> (<em>numeric in [0, limitValue]</em>) – </li>
+<li><strong>speedRegulation</strong> (<em>bool</em>) – </li>
+<li><strong>brakeMode</strong> (<em>'Coast'|'Brake'</em>) – </li>
+<li><strong>limitMode</strong> (<em>'Time'|'Tacho'</em>) – </li>
+<li><strong>limitValue</strong> (<em>numeric > 0</em>) – </li>
+<li><strong>power</strong> (<em>numeric in [-100,100]</em>) – </li>
+<li><strong>batteryMode</strong> (<em>'Voltage'|'Percentage'</em>) – </li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Example</p>
+<p>b = EV3(); <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+b.motorA.setProperties('debug', 'on', 'power', 50, 'limitValue', 720, 'speedRegulation', 'on'); <br />
+% Instead of: b.motorA.debug = 'on'; <br />
+% b.motorA.power = 50; <br />
+% b.motorA.limitValue = 720; <br />
+% b.motorA.speedRegulation = 'on'; <br /></p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Motor.start">
+<code class="descname">start</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.start" title="Permalink to this definition">¶</a></dt>
+<dd><p>Starts the motor</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>Right now, alternatingly calling this function with and without tacho limit
+may lead to unexpected behaviour. For example, if you run the motor without
+a tacholimit for some time using Coast, then stop using Coast, and then try
+to run the with a tacholimit, it will stop sooner or later than expected,
+or may not even start at all.</li>
+</ul>
+<p>Check connection and if motor is already running</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Motor.stop">
+<code class="descname">stop</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.stop" title="Permalink to this definition">¶</a></dt>
+<dd><p>Stops the motor</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Motor.syncedStart">
+<code class="descname">syncedStart</code><span class="sig-paren">(</span><em>motor</em>, <em>syncMotor</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.syncedStart" title="Permalink to this definition">¶</a></dt>
+<dd><p>Starts this motor synchronized with another</p>
+<p>The motor, with which this method is called, acts as a <em>master</em>, meaning that the
+synchronized control is done with it und uses its parameters. When syncedStart is
+called, the master sets some of the slave's (syncMotor) properties to keep it
+consistent with the physical brick. So, for example, if the master has another
+power-value than the slave, the slave's power-value will be set to that of the
+master when syncedStart() is called.
+The following parameters will be affected on the slave: <em>power</em>, <em>brakeMode</em>,
+<em>limitValue</em>, <em>speedRegulation</em></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>syncMotor</strong> (<em>Motor</em>) – The motor-object to sync with</li>
+<li><strong>turnRatio</strong> (<em>numeric in [-200,200]</em>) – Ratio between the two master's and the
+slave's motor speed. With values!=0 one motor will be slower than the other
+or even turn into the other direction. This can be used for turning car-like
+robots, for example. (Read in Firmware-comments in c_output.c): <br />
+-> 0 is moving straight forward <br />
+-> Negative values turn to the left <br />
+-> Positive values turn to the right <br />
+-> Value -100 stops the left motor <br />
+-> Value +100 stops the right motor <br />
+-> Values less than -100 makes the left motor run the opposite direction of the right motor (Spin) <br />
+-> Values greater than +100 makes the right motor run the opposite direction of the left motor (Spin) <br /></li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This is right now a pretty 'heavy' function, as it tests if both motors are
+connected AND aren't running, wasting four packets, keep that in mind</li>
+</ul>
+<p class="rubric">Example</p>
+<p>b = EV3(); <br />
+b.connect('usb'); <br />
+m = b.motorA; <br />
+slave = b.motorB; <br />
+m.power = 50; <br />
+m.syncedStart(slave); <br />
+% Do stuff <br />
+m.stop(); <br /></p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Motor.syncedStop">
+<code class="descname">syncedStop</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.syncedStop" title="Permalink to this definition">¶</a></dt>
+<dd><p>Stops both motors previously started with syncedStart.</p>
+<p>See also MOTOR.SYNCEDSTART</p>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Motor.waitFor">
+<code class="descname">waitFor</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.waitFor" title="Permalink to this definition">¶</a></dt>
+<dd><p>Stops execution of program as long as motor is running</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>(OLD)This one's a bit tricky. The opCode OutputReady makes the brick stop sending
+responses until the motor has stopped. For security reasons, in this toolbox
+there is an internal timeout for receiving messages from the brick. It raises
+an error if a reply takes too long, which would happen in this case. As a
+workaround, there is an infinite loop that catches errors from outputReady and
+continues then, until outputReady will actually finish without an error.</li>
+<li>(OLD)OutputReady (like OutputTest in isRunning) sometimes doesn't work. If
+outputReady returns in less than a second, another while-loop iterates until
+the motor has stopped, this time using motor.isRunning() (this only works as
+long as not both OutputTest and OutputReady are buggy).</li>
+<li>(OLD)Workaround: Poll isRunning (which itself return (speed>0)) until it
+is false (No need to check if motor is connected as speed correctly
+returns 0 if it's not)</li>
+</ul>
+</dd></dl>
+
+</dd></dl>
+
+</div>
+
+
+ </div>
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+ <span class="navbar-text navbar-version pull-left"><b>v0.4</b></span>
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+<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>
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+<div id="sourcelink">
+ <a href="_sources/Sensor.txt"
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+ <span class="target" id="module-source"></span><div class="section" id="sensor">
+<h1>Sensor<a class="headerlink" href="#sensor" title="Permalink to this headline">¶</a></h1>
+<dl class="class">
+<dt id="source.Sensor">
+<em class="property">class </em><code class="descclassname">source.</code><code class="descname">Sensor</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Sensor" title="Permalink to this definition">¶</a></dt>
+<dd><p>High-level class to work with sensors.</p>
+<p>The Sensor-class facilitates the communication with sensors. This mainly consists of
+reading the sensor's type and current value in a specified mode.</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>You don't need to create instances of this class. The EV3-class automatically creates
+instances for each sensor port, and you can work with them via the EV3-object.</li>
+<li>The Sensor-class represents sensor ports, not individual sensors!</li>
+</ul>
+<dl class="attribute">
+<dt id="source.Sensor.mode">
+<code class="descname">mode</code><a class="headerlink" href="#source.Sensor.mode" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>DeviceMode.{Type}</em> – Sensor mode in which the value will be read. By default,
+mode is set to DeviceMode.Default.Undefined. Once a physical sensor is connected
+to the port <em>and</em> the physical Brick is connected to the EV3-object, the allowed
+mode and the default mode for a Sensor-object are the following (depending on the
+sensor type): <em>[WRITABLE]</em></p>
+<blockquote>
+<div><ul>
+<li><dl class="first docutils">
+<dt>Touch-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.Touch.Pushed <em>[Default]</em></li>
+<li>DeviceMode.Touch.Bumps</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>Ultrasonic-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.UltraSonic.DistCM <em>[Default]</em></li>
+<li>DeviceMode.UltraSonic.DistIn</li>
+<li>DeviceMode.UltraSonic.Listen</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>Color-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.Color.Reflect <em>[Default]</em></li>
+<li>DeviceMode.Color.Ambient</li>
+<li>DeviceMode.Color.Col</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>Gyro-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.Gyro.Angular <em>[Default]</em></li>
+<li>DeviceMode.Gyro.Rate</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>Infrared-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.InfraRed.Prox <em>[Default]</em></li>
+<li>DeviceMode.InfraRed.Seek</li>
+<li>DeviceMode.InfraRed.Remote</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTColor-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTColor.Reflect <em>[Default]</em></li>
+<li>DeviceMode.NXTColor.Ambient</li>
+<li>DeviceMode.NXTColor.Color</li>
+<li>DeviceMode.NXTColor.Green</li>
+<li>DeviceMode.NXTColor.Blue</li>
+<li>DeviceMode.NXTColor.Raw</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTLight-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTLight.Reflect <em>[Default]</em></li>
+<li>DeviceMode.NXTLight.Ambient</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTSound-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTSound.DB <em>[Default]</em></li>
+<li>DeviceMode.NXTSound.DBA</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTTemperature-Sensor</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTTemperature.C <em>[Default]</em></li>
+<li>DeviceMode.NXTTemperature.F</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTTouch-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTTouch.Pushed <em>[Default]</em></li>
+<li>DeviceMode.NXTTouch.Bumps</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>NXTUltraSonic-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.NXTUltraSonic.CM <em>[Default]</em></li>
+<li>DeviceMode.NXTUltraSonic.IN</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>HTAccelerometer-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.HTAccelerometer.Acceleration <em>[Default]</em></li>
+<li>DeviceMode.HTAccelerometer.AccelerationAllAxes</li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>HTCompass-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.HTCompass.Degrees <em>[Default]</em></li>
+</ul>
+</dd>
+</dl>
+</li>
+<li><dl class="first docutils">
+<dt>HTColor-Sensor:</dt>
+<dd><ul class="first last simple">
+<li>DeviceMode.HTColor.Col <em>[Default]</em></li>
+<li>DeviceMode.HTColor.Red</li>
+<li>DeviceMode.HTColor.Green</li>
+<li>DeviceMode.HTColor.Blue</li>
+<li>DeviceMode.HTColor.White</li>
+<li>DeviceMode.HTColor.Raw</li>
+<li>DeviceMode.HTColor.Nr,</li>
+<li>DeviceMode.HTColor.All</li>
+</ul>
+</dd>
+</dl>
+</li>
+</ul>
+</div></blockquote>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Sensor.debug">
+<code class="descname">debug</code><a class="headerlink" href="#source.Sensor.debug" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>bool</em> – Debug turned on or off. In debug mode, everytime a command is passed to
+the sublayer ('communication layer'), there is feedback in the console about what
+command has been called. <em>[WRITABLE]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Sensor.value">
+<code class="descname">value</code><a class="headerlink" href="#source.Sensor.value" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>numeric</em> – Value read from hysical sensor. What the value represents depends on
+sensor.mode. <em>[READ-ONLY]</em></p>
+</dd></dl>
+
+<dl class="attribute">
+<dt id="source.Sensor.type">
+<code class="descname">type</code><a class="headerlink" href="#source.Sensor.type" title="Permalink to this definition">¶</a></dt>
+<dd><p><em>DeviceType</em> – Type of physical sensor connected to the port. Possible types are: [READ-ONLY]</p>
+<ul class="simple">
+<li>DeviceType.NXTTouch</li>
+<li>DeviceType.NXTLight</li>
+<li>DeviceType.NXTSound</li>
+<li>DeviceType.NXTColor</li>
+<li>DeviceType.NXTUltraSonic</li>
+<li>DeviceType.NXTTemperature</li>
+<li>DeviceType.LargeMotor</li>
+<li>DeviceType.MediumMotor</li>
+<li>DeviceType.Touch</li>
+<li>DeviceType.Color</li>
+<li>DeviceType.UltraSonic</li>
+<li>DeviceType.Gyro</li>
+<li>DeviceType.InfraRed</li>
+<li>DeviceType.HTColor</li>
+<li>DeviceType.HTCompass</li>
+<li>DeviceType.HTAccelerometer</li>
+<li>DeviceType.Unknown</li>
+<li>DeviceType.None</li>
+<li>DeviceType.Error</li>
+</ul>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Sensor.reset">
+<code class="descname">reset</code><span class="sig-paren">(</span><em>sensor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Sensor.reset" title="Permalink to this definition">¶</a></dt>
+<dd><p>Resets value on sensor</p>
+<p class="rubric">Notes</p>
+<ul class="simple">
+<li>This clears ALL the sensors right now, no other Op-Code available... :(</li>
+</ul>
+</dd></dl>
+
+<dl class="method">
+<dt id="source.Sensor.setProperties">
+<code class="descname">setProperties</code><span class="sig-paren">(</span><em>sensor</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Sensor.setProperties" title="Permalink to this definition">¶</a></dt>
+<dd><p>Sets multiple Sensor properties at once using MATLAB's inputParser.</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>debug</strong> (<em>bool</em>) – </li>
+<li><strong>mode</strong> (<em>DeviceMode.{Type}</em>) – </li>
+</ul>
+</td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Example</p>
+<p>b = EV3(); <br />
+b.connect('bt', 'serPort', '/dev/rfcomm0'); <br />
+b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient); <br />
+% Instead of: b.sensor1.debug = 'on'; <br />
+% b.sensor1.mode = DeviceMode.Color.Ambient; <br /></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/_sources/EV3.txt b/docs/_build/html/_sources/EV3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb679dc88652edb9e25f3339b2407d052e4307f5
--- /dev/null
+++ b/docs/_build/html/_sources/EV3.txt
@@ -0,0 +1,12 @@
+.. automodule:: source
+
+.. |br| raw:: html
+
+ <br />
+EV3
+===
+
+.. autoclass:: EV3
+ :members: connect, disconnect, stopAllMotors, beep, playTone, stopTone, tonePlayed, setProperties
+
+
diff --git a/docs/_build/html/_sources/Motor.txt b/docs/_build/html/_sources/Motor.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4e89a896e0b6aeccef31836a19ee29d3dd73eeb9
--- /dev/null
+++ b/docs/_build/html/_sources/Motor.txt
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+
+ <br />
+Motor
+=====
+
+.. autoclass:: Motor
+ :members: start, stop, syncedStart, syncedStop, waitFor, internalReset, resetTachoCount, setBrake, setProperties
diff --git a/docs/_build/html/_sources/Sensor.txt b/docs/_build/html/_sources/Sensor.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0404ade83e4643e3b8dd830a8b428f1b06dfd4fa
--- /dev/null
+++ b/docs/_build/html/_sources/Sensor.txt
@@ -0,0 +1,10 @@
+.. automodule:: source
+
+.. |br| raw:: html
+
+ <br />
+Sensor
+======
+
+.. autoclass:: Sensor
+ :members: reset, setProperties
diff --git a/docs/_build/html/_sources/examples.txt b/docs/_build/html/_sources/examples.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b90c0e1cba794d0c4c0d5679dba4cb0fb9fc4ef6
--- /dev/null
+++ b/docs/_build/html/_sources/examples.txt
@@ -0,0 +1,3 @@
+========
+Examples
+========
diff --git a/docs/_build/html/_sources/index.txt b/docs/_build/html/_sources/index.txt
index 32339b8c15a093a9abd83ae2f95e974280f64bda..4ebb311f2fe3915e3d5b5dba277214e1933c6419 100644
--- a/docs/_build/html/_sources/index.txt
+++ b/docs/_build/html/_sources/index.txt
@@ -3,21 +3,48 @@
You can adapt this file completely to your liking, but it should at least
contain the root `toctree` directive.
-Toolbox for controlling Lego Mindstorms EV3 with MATLAB
-=======================================================
+==================================================
+MATLAB Toolbox for controlling Lego Mindstorms EV3
+==================================================
-Contents:
+This MATLAB toolbox was designed to abstract and simplify controlling Lego Mindstorms
+EV3 robots. Via Bluetooth or USB you can read sensor values or control
+your robots' motors in an intuitive way. On a low level (the ##hyperlink## Communication
+layer) you are able to send various commands directly to the brick, while on a high level,
+several classes abstract this behaviour for you. If you want to easily access your EV3 robot,
+these are the classes you will mostly use.
+
+Take a look at the ##link to readme## for installation instructions.
+
+This toolbox is being developed at the RWTH Aachen, Germany, as part of the students' lab
+##hyperlink## 'MATLAB meets Mindstorms'. It is the follow-up of the widely used ##hyperlink## MATLAB NXT Toolbox.
+
+##image##
+
+Contents
+========
+
+Setting up the toolbox
.. toctree::
- :maxdepth: 4
+ :maxdepth: 2
- source
+ readme
+ examples
+Toolbox documentation
-Indices and tables
-==================
+.. toctree::
+ :maxdepth: 2
+
+ EV3
+ Motor
+ Sensor
+
+Advanced
+
+.. toctree::
+ :maxdepth: 2
-* :ref:`genindex`
-* :ref:`modindex`
-* :ref:`search`
+
diff --git a/docs/_build/html/_sources/readme.txt b/docs/_build/html/_sources/readme.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddcfba5efbf31886070e6c0c8f8f87190c277a21
--- /dev/null
+++ b/docs/_build/html/_sources/readme.txt
@@ -0,0 +1,12 @@
+=======
+General
+=======
+
+Installation
+============
+
+Contribution
+============
+
+Licenses
+========
diff --git a/docs/_build/html/_sources/source.txt b/docs/_build/html/_sources/source.txt
index 589e1dd71f965275426b905e185bec519a40f781..bb679dc88652edb9e25f3339b2407d052e4307f5 100644
--- a/docs/_build/html/_sources/source.txt
+++ b/docs/_build/html/_sources/source.txt
@@ -10,16 +10,3 @@ EV3
:members: connect, disconnect, stopAllMotors, beep, playTone, stopTone, tonePlayed, setProperties
-Motor
-=====
-
-.. autoclass:: Motor
- :members: start, stop, syncedStart, syncedStop, waitFor, internalReset, resetTachoCount, setBrake, setProperties
-
-
-Sensor
-======
-
-.. autoclass:: Sensor
- :members: reset, setProperties
-
diff --git a/docs/_build/html/_static/bootstrap-sphinx.css b/docs/_build/html/_static/bootstrap-sphinx.css
index 3f397e1b7a4250aa7749aa5c4a59dcee5607b589..759bc88ee9ba234ef78238daceea15bb5311cf50 100644
--- a/docs/_build/html/_static/bootstrap-sphinx.css
+++ b/docs/_build/html/_static/bootstrap-sphinx.css
@@ -38,12 +38,12 @@
body {
- padding-top: 40px;
+ padding-top: 60px;
}
.page-top {
- top: 40px;
+ top: 60px;
}
@@ -60,12 +60,12 @@ table {
}
.highlighttable .code pre {
- font-size: 12px;
+ font-size: 15px;
}
.highlighttable .linenos pre {
word-break: normal;
- font-size: 12px;
+ font-size: 15px;
}
div.highlight {
diff --git a/docs/_build/html/examples.html b/docs/_build/html/examples.html
new file mode 100644
index 0000000000000000000000000000000000000000..aa2918ba5f0a45f894afd44d7986283df2866a28
--- /dev/null
+++ b/docs/_build/html/examples.html
@@ -0,0 +1,161 @@
+<!DOCTYPE html>
+
+
+<html xmlns="http://www.w3.org/1999/xhtml">
+ <head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+
+ <title>Examples — 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>
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+ <link rel="top" title="Mindstorms EV3 Toolbox v0.4-rc.10 documentation" href="index.html" />
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+<meta name="apple-mobile-web-app-capable" content="yes">
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+ <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 -->
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+ <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 class="current">
+<li class="toctree-l1"><a class="reference internal" href="readme.html">General information</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Examples</a></li>
+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="source.html">EV3</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source.html#motor">Motor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source.html#sensor">Sensor</a></li>
+</ul>
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+ <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="#">Examples</a></li>
+</ul>
+</ul>
+</li>
+
+
+
+
+
+ <li>
+ <a href="readme.html" title="Previous Chapter: General information"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">« General infor...</span>
+ </a>
+ </li>
+ <li>
+ <a href="source.html" title="Next Chapter: EV3"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">EV3 »</span>
+ </a>
+ </li>
+
+
+
+
+
+ <li class="hidden-sm">
+<div id="sourcelink">
+ <a href="_sources/examples.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 class="section" id="examples">
+<h1>Examples<a class="headerlink" href="#examples" title="Permalink to this headline">¶</a></h1>
+</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/genindex.html b/docs/_build/html/genindex.html
index d5a11928440a916168201c860a5a18277bbb810b..00368a1f7d9bd5915cc5c17d2162065a9fd56d71 100644
--- a/docs/_build/html/genindex.html
+++ b/docs/_build/html/genindex.html
@@ -10,8 +10,7 @@
<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/bootstrap-3.3.6/css/bootstrap.min.css" type="text/css" />
- <link rel="stylesheet" href="_static/bootstrap-3.3.6/css/bootstrap-theme.min.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">
@@ -68,9 +67,13 @@
<ul class="dropdown-menu globaltoc"
role="menu"
aria-labelledby="dLabelGlobalToc"><ul>
-<li class="toctree-l1"><a class="reference internal" href="source.html">EV3</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source.html#motor">Motor</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source.html#sensor">Sensor</a></li>
+<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>
@@ -140,21 +143,21 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.EV3.batteryMode">batteryMode (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.batteryMode">batteryMode (source.EV3 attribute)</a>, <a href="source.html#source.EV3.batteryMode">[1]</a>
</dt>
- <dt><a href="source.html#source.EV3.batteryValue">batteryValue (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.batteryValue">batteryValue (source.EV3 attribute)</a>, <a href="source.html#source.EV3.batteryValue">[1]</a>
</dt>
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.EV3.beep">beep() (source.EV3 method)</a>
+ <dt><a href="EV3.html#source.EV3.beep">beep() (source.EV3 method)</a>, <a href="source.html#source.EV3.beep">[1]</a>
</dt>
- <dt><a href="source.html#source.Motor.brakeMode">brakeMode (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.brakeMode">brakeMode (source.Motor attribute)</a>
</dt>
</dl></td>
@@ -164,13 +167,13 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.EV3.connect">connect() (source.EV3 method)</a>
+ <dt><a href="EV3.html#source.EV3.connect">connect() (source.EV3 method)</a>, <a href="source.html#source.EV3.connect">[1]</a>
</dt>
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Motor.currentSpeed">currentSpeed (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.currentSpeed">currentSpeed (source.Motor attribute)</a>
</dt>
</dl></td>
@@ -180,23 +183,23 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.EV3.debug">debug (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.debug">debug (source.EV3 attribute)</a>, <a href="source.html#source.EV3.debug">[1]</a>
</dt>
<dd><dl>
- <dt><a href="source.html#source.Motor.debug">(source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.debug">(source.Motor attribute)</a>
</dt>
- <dt><a href="source.html#source.Sensor.debug">(source.Sensor attribute)</a>
+ <dt><a href="Sensor.html#source.Sensor.debug">(source.Sensor attribute)</a>
</dt>
</dl></dd>
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.EV3.disconnect">disconnect() (source.EV3 method)</a>
+ <dt><a href="EV3.html#source.EV3.disconnect">disconnect() (source.EV3 method)</a>, <a href="source.html#source.EV3.disconnect">[1]</a>
</dt>
</dl></td>
@@ -206,7 +209,7 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.EV3">EV3 (class in source)</a>
+ <dt><a href="EV3.html#source.EV3">EV3 (class in source)</a>, <a href="source.html#source.EV3">[1]</a>
</dt>
</dl></td>
@@ -216,17 +219,17 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Motor.internalReset">internalReset() (source.Motor method)</a>
+ <dt><a href="Motor.html#source.Motor.internalReset">internalReset() (source.Motor method)</a>
</dt>
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.EV3.isConnected">isConnected (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.isConnected">isConnected (source.EV3 attribute)</a>, <a href="source.html#source.EV3.isConnected">[1]</a>
</dt>
- <dt><a href="source.html#source.Motor.isRunning">isRunning (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.isRunning">isRunning (source.Motor attribute)</a>
</dt>
</dl></td>
@@ -236,13 +239,13 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Motor.limitMode">limitMode (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.limitMode">limitMode (source.Motor attribute)</a>
</dt>
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Motor.limitValue">limitValue (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.limitValue">limitValue (source.Motor attribute)</a>
</dt>
</dl></td>
@@ -252,29 +255,29 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Sensor.mode">mode (source.Sensor attribute)</a>
+ <dt><a href="Sensor.html#source.Sensor.mode">mode (source.Sensor attribute)</a>
</dt>
- <dt><a href="source.html#source.Motor">Motor (class in source)</a>
+ <dt><a href="Motor.html#source.Motor">Motor (class in source)</a>
</dt>
- <dt><a href="source.html#source.EV3.motorA">motorA (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.motorA">motorA (source.EV3 attribute)</a>, <a href="source.html#source.EV3.motorA">[1]</a>
</dt>
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.EV3.motorB">motorB (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.motorB">motorB (source.EV3 attribute)</a>, <a href="source.html#source.EV3.motorB">[1]</a>
</dt>
- <dt><a href="source.html#source.EV3.motorC">motorC (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.motorC">motorC (source.EV3 attribute)</a>, <a href="source.html#source.EV3.motorC">[1]</a>
</dt>
- <dt><a href="source.html#source.EV3.motorD">motorD (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.motorD">motorD (source.EV3 attribute)</a>, <a href="source.html#source.EV3.motorD">[1]</a>
</dt>
</dl></td>
@@ -284,13 +287,13 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.EV3.playTone">playTone() (source.EV3 method)</a>
+ <dt><a href="EV3.html#source.EV3.playTone">playTone() (source.EV3 method)</a>, <a href="source.html#source.EV3.playTone">[1]</a>
</dt>
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Motor.power">power (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.power">power (source.Motor attribute)</a>
</dt>
</dl></td>
@@ -300,13 +303,13 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Sensor.reset">reset() (source.Sensor method)</a>
+ <dt><a href="Sensor.html#source.Sensor.reset">reset() (source.Sensor method)</a>
</dt>
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Motor.resetTachoCount">resetTachoCount() (source.Motor method)</a>
+ <dt><a href="Motor.html#source.Motor.resetTachoCount">resetTachoCount() (source.Motor method)</a>
</dt>
</dl></td>
@@ -316,83 +319,83 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Sensor">Sensor (class in source)</a>
+ <dt><a href="Sensor.html#source.Sensor">Sensor (class in source)</a>
</dt>
- <dt><a href="source.html#source.EV3.sensor1">sensor1 (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.sensor1">sensor1 (source.EV3 attribute)</a>, <a href="source.html#source.EV3.sensor1">[1]</a>
</dt>
- <dt><a href="source.html#source.EV3.sensor2">sensor2 (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.sensor2">sensor2 (source.EV3 attribute)</a>, <a href="source.html#source.EV3.sensor2">[1]</a>
</dt>
- <dt><a href="source.html#source.EV3.sensor3">sensor3 (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.sensor3">sensor3 (source.EV3 attribute)</a>, <a href="source.html#source.EV3.sensor3">[1]</a>
</dt>
- <dt><a href="source.html#source.EV3.sensor4">sensor4 (source.EV3 attribute)</a>
+ <dt><a href="EV3.html#source.EV3.sensor4">sensor4 (source.EV3 attribute)</a>, <a href="source.html#source.EV3.sensor4">[1]</a>
</dt>
- <dt><a href="source.html#source.Motor.setBrake">setBrake() (source.Motor method)</a>
+ <dt><a href="Motor.html#source.Motor.setBrake">setBrake() (source.Motor method)</a>
</dt>
- <dt><a href="source.html#source.EV3.setProperties">setProperties() (source.EV3 method)</a>
+ <dt><a href="EV3.html#source.EV3.setProperties">setProperties() (source.EV3 method)</a>, <a href="source.html#source.EV3.setProperties">[1]</a>
</dt>
<dd><dl>
- <dt><a href="source.html#source.Motor.setProperties">(source.Motor method)</a>
+ <dt><a href="Motor.html#source.Motor.setProperties">(source.Motor method)</a>
</dt>
- <dt><a href="source.html#source.Sensor.setProperties">(source.Sensor method)</a>
+ <dt><a href="Sensor.html#source.Sensor.setProperties">(source.Sensor method)</a>
</dt>
</dl></dd>
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Motor.smoothStart">smoothStart (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.smoothStart">smoothStart (source.Motor attribute)</a>
</dt>
- <dt><a href="source.html#source.Motor.smoothStop">smoothStop (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.smoothStop">smoothStop (source.Motor attribute)</a>
</dt>
- <dt><a href="source.html#module-source">source (module)</a>
+ <dt><a href="EV3.html#module-source">source (module)</a>, <a href="Motor.html#module-source">[1]</a>, <a href="Sensor.html#module-source">[2]</a>, <a href="source.html#module-source">[3]</a>
</dt>
- <dt><a href="source.html#source.Motor.speedRegulation">speedRegulation (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.speedRegulation">speedRegulation (source.Motor attribute)</a>
</dt>
- <dt><a href="source.html#source.Motor.start">start() (source.Motor method)</a>
+ <dt><a href="Motor.html#source.Motor.start">start() (source.Motor method)</a>
</dt>
- <dt><a href="source.html#source.Motor.stop">stop() (source.Motor method)</a>
+ <dt><a href="Motor.html#source.Motor.stop">stop() (source.Motor method)</a>
</dt>
- <dt><a href="source.html#source.EV3.stopAllMotors">stopAllMotors() (source.EV3 method)</a>
+ <dt><a href="EV3.html#source.EV3.stopAllMotors">stopAllMotors() (source.EV3 method)</a>, <a href="source.html#source.EV3.stopAllMotors">[1]</a>
</dt>
- <dt><a href="source.html#source.EV3.stopTone">stopTone() (source.EV3 method)</a>
+ <dt><a href="EV3.html#source.EV3.stopTone">stopTone() (source.EV3 method)</a>, <a href="source.html#source.EV3.stopTone">[1]</a>
</dt>
- <dt><a href="source.html#source.Motor.syncedStart">syncedStart() (source.Motor method)</a>
+ <dt><a href="Motor.html#source.Motor.syncedStart">syncedStart() (source.Motor method)</a>
</dt>
- <dt><a href="source.html#source.Motor.syncedStop">syncedStop() (source.Motor method)</a>
+ <dt><a href="Motor.html#source.Motor.syncedStop">syncedStop() (source.Motor method)</a>
</dt>
</dl></td>
@@ -402,22 +405,22 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Motor.tachoCount">tachoCount (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.tachoCount">tachoCount (source.Motor attribute)</a>
</dt>
- <dt><a href="source.html#source.EV3.tonePlayed">tonePlayed() (source.EV3 method)</a>
+ <dt><a href="EV3.html#source.EV3.tonePlayed">tonePlayed() (source.EV3 method)</a>, <a href="source.html#source.EV3.tonePlayed">[1]</a>
</dt>
</dl></td>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Motor.type">type (source.Motor attribute)</a>
+ <dt><a href="Motor.html#source.Motor.type">type (source.Motor attribute)</a>
</dt>
<dd><dl>
- <dt><a href="source.html#source.Sensor.type">(source.Sensor attribute)</a>
+ <dt><a href="Sensor.html#source.Sensor.type">(source.Sensor attribute)</a>
</dt>
</dl></dd>
@@ -428,7 +431,7 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Sensor.value">value (source.Sensor attribute)</a>
+ <dt><a href="Sensor.html#source.Sensor.value">value (source.Sensor attribute)</a>
</dt>
</dl></td>
@@ -438,7 +441,7 @@
<table style="width: 100%" class="indextable genindextable"><tr>
<td style="width: 33%" valign="top"><dl>
- <dt><a href="source.html#source.Motor.waitFor">waitFor() (source.Motor method)</a>
+ <dt><a href="Motor.html#source.Motor.waitFor">waitFor() (source.Motor method)</a>
</dt>
</dl></td>
diff --git a/docs/_build/html/index.html b/docs/_build/html/index.html
index 045ce15577b0f1b06ee2be41b928bd3bf1a3da35..699f7495a3cbaba62f0562407a8161f965e160a3 100644
--- a/docs/_build/html/index.html
+++ b/docs/_build/html/index.html
@@ -5,12 +5,11 @@
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
- <title>Toolbox for controlling Lego Mindstorms EV3 with MATLAB — Mindstorms EV3 Toolbox v0.4-rc.10 documentation</title>
+ <title>MATLAB Toolbox for controlling Lego Mindstorms EV3 — 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/bootstrap-3.3.6/css/bootstrap.min.css" type="text/css" />
- <link rel="stylesheet" href="_static/bootstrap-3.3.6/css/bootstrap-theme.min.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">
@@ -32,7 +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="#" />
- <link rel="next" title="EV3" href="source.html" />
+ <link rel="next" title="General" href="readme.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'>
@@ -68,9 +67,13 @@
<ul class="dropdown-menu globaltoc"
role="menu"
aria-labelledby="dLabelGlobalToc"><ul>
-<li class="toctree-l1"><a class="reference internal" href="source.html">EV3</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source.html#motor">Motor</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source.html#sensor">Sensor</a></li>
+<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>
@@ -84,8 +87,12 @@
<ul class="dropdown-menu localtoc"
role="menu"
aria-labelledby="dLabelLocalToc"><ul>
-<li><a class="reference internal" href="#">Toolbox for controlling Lego Mindstorms EV3 with MATLAB</a></li>
-<li><a class="reference internal" href="#indices-and-tables">Indices and tables</a></li>
+<li><a class="reference internal" href="#">MATLAB Toolbox for controlling Lego Mindstorms EV3</a><ul>
+<li><a class="reference internal" href="#contents">Contents</a><ul>
+</ul>
+</li>
+</ul>
+</li>
</ul>
</ul>
</li>
@@ -95,7 +102,7 @@
<li>
- <a href="source.html" title="Next Chapter: EV3"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">EV3 »</span>
+ <a href="readme.html" title="Next Chapter: General"><span class="glyphicon glyphicon-chevron-right visible-sm"></span><span class="hidden-sm hidden-tablet">General »</span>
</a>
</li>
@@ -129,24 +136,44 @@
<div class="row">
<div class="col-md-12 content">
- <div class="section" id="toolbox-for-controlling-lego-mindstorms-ev3-with-matlab">
-<h1>Toolbox for controlling Lego Mindstorms EV3 with MATLAB<a class="headerlink" href="#toolbox-for-controlling-lego-mindstorms-ev3-with-matlab" title="Permalink to this headline">¶</a></h1>
-<p>Contents:</p>
+ <div class="section" id="matlab-toolbox-for-controlling-lego-mindstorms-ev3">
+<h1>MATLAB Toolbox for controlling Lego Mindstorms EV3<a class="headerlink" href="#matlab-toolbox-for-controlling-lego-mindstorms-ev3" title="Permalink to this headline">¶</a></h1>
+<p>This MATLAB toolbox was designed to abstract and simplify controlling Lego Mindstorms
+EV3 robots. Via Bluetooth or USB you can read sensor values or control
+your robots’ motors in an intuitive way. On a low level (the ##hyperlink## Communication
+layer) you are able to send various commands directly to the brick, while on a high level,
+several classes abstract this behaviour for you. If you want to easily access your EV3 robot,
+these are the classes you will mostly use.</p>
+<p>Take a look at the ##link to readme## for installation instructions.</p>
+<p>This toolbox is being developed at the RWTH Aachen, Germany, as part of the students’ lab
+##hyperlink## ‘MATLAB meets Mindstorms’. It is the follow-up of the widely used ##hyperlink## MATLAB NXT Toolbox.</p>
+<p>##image##</p>
+<div class="section" id="contents">
+<h2>Contents<a class="headerlink" href="#contents" title="Permalink to this headline">¶</a></h2>
+<p>Setting up the toolbox</p>
<div class="toctree-wrapper compound">
<ul>
-<li class="toctree-l1"><a class="reference internal" href="source.html">EV3</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source.html#motor">Motor</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source.html#sensor">Sensor</a></li>
+<li class="toctree-l1"><a class="reference internal" href="readme.html">General</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="readme.html#installation">Installation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="readme.html#contribution">Contribution</a></li>
+<li class="toctree-l2"><a class="reference internal" href="readme.html#licenses">Licenses</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="examples.html">Examples</a></li>
</ul>
</div>
-</div>
-<div class="section" id="indices-and-tables">
-<h1>Indices and tables<a class="headerlink" href="#indices-and-tables" title="Permalink to this headline">¶</a></h1>
-<ul class="simple">
-<li><a class="reference internal" href="genindex.html"><em>Index</em></a></li>
-<li><a class="reference internal" href="mat-modindex.html"><em>Module Index</em></a></li>
-<li><a class="reference internal" href="search.html"><em>Search Page</em></a></li>
+<p>Toolbox documentation</p>
+<div class="toctree-wrapper compound">
+<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>
+</div>
+<p>Advanced</p>
+<div class="toctree-wrapper compound">
+</div>
+</div>
</div>
diff --git a/docs/_build/html/mat-modindex.html b/docs/_build/html/mat-modindex.html
index 1860710e5b7ebde5ad31d8827420608dc24cddd9..4fe4e6dfebc179395d25af11ea684b794bdf2433 100644
--- a/docs/_build/html/mat-modindex.html
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- <link rel="stylesheet" href="_static/bootstrap-3.3.6/css/bootstrap-theme.min.css" type="text/css" />
+ <link rel="stylesheet" href="_static/bootswatch-3.3.6/readable/bootstrap.min.css" type="text/css" />
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<script type="text/javascript">
@@ -74,9 +73,13 @@
<ul class="dropdown-menu globaltoc"
role="menu"
aria-labelledby="dLabelGlobalToc"><ul>
-<li class="toctree-l1"><a class="reference internal" href="source.html">EV3</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source.html#motor">Motor</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source.html#sensor">Sensor</a></li>
+<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>
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new file mode 100644
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+++ b/docs/_build/html/readme.html
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+<!DOCTYPE html>
+
+
+<html xmlns="http://www.w3.org/1999/xhtml">
+ <head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+
+ <title>General — 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" />
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+ <link rel="stylesheet" href="_static/bootstrap-sphinx.css" type="text/css" />
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+ };
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+ <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>
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+ role="menu"
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+</ul>
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="source.html">EV3</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source.html#motor">Motor</a></li>
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+<h1>General<a class="headerlink" href="#general" title="Permalink to this headline">¶</a></h1>
+<div class="section" id="installation">
+<h2>Installation<a class="headerlink" href="#installation" title="Permalink to this headline">¶</a></h2>
+</div>
+<div class="section" id="contribution">
+<h2>Contribution<a class="headerlink" href="#contribution" title="Permalink to this headline">¶</a></h2>
+</div>
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diff --git a/docs/_build/html/search.html b/docs/_build/html/search.html
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-<li class="toctree-l1"><a class="reference internal" href="source.html">EV3</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source.html#motor">Motor</a></li>
-<li class="toctree-l1"><a class="reference internal" href="source.html#sensor">Sensor</a></li>
+<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>
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+<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>
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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 d43afef569295adabaf396a099f598e0b33e569e..f093d5eaf1bbcf2d8c58ad814bc7d976edb81784 100644
--- a/docs/_build/html/source.html
+++ b/docs/_build/html/source.html
@@ -9,8 +9,7 @@
<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/bootstrap-3.3.6/css/bootstrap.min.css" type="text/css" />
- <link rel="stylesheet" href="_static/bootstrap-3.3.6/css/bootstrap-theme.min.css" type="text/css" />
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@@ -32,7 +31,6 @@
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href="index.html">Site <b class="caret"></b></a>
<ul class="dropdown-menu globaltoc"
role="menu"
- aria-labelledby="dLabelGlobalToc"><ul class="current">
-<li class="toctree-l1 current"><a class="current reference internal" href="#">EV3</a></li>
-<li class="toctree-l1"><a class="reference internal" href="#motor">Motor</a></li>
-<li class="toctree-l1"><a class="reference internal" href="#sensor">Sensor</a></li>
+ 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>
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+<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
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@@ -85,8 +87,6 @@
role="menu"
aria-labelledby="dLabelLocalToc"><ul>
<li><a class="reference internal" href="#">EV3</a></li>
-<li><a class="reference internal" href="#motor">Motor</a></li>
-<li><a class="reference internal" href="#sensor">Sensor</a></li>
</ul>
</ul>
</li>
@@ -95,10 +95,6 @@
- <li>
- <a href="index.html" title="Previous Chapter: Toolbox for controlling Lego Mindstorms EV3 with MATLAB"><span class="glyphicon glyphicon-chevron-left visible-sm"></span><span class="hidden-sm hidden-tablet">« Toolbox for c...</span>
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@@ -383,548 +379,6 @@ b.tonePlayed() -> Outputs 1 to console. <br /></dd>
</dd></dl>
-</div>
-<div class="section" id="motor">
-<h1>Motor<a class="headerlink" href="#motor" title="Permalink to this headline">¶</a></h1>
-<dl class="class">
-<dt id="source.Motor">
-<em class="property">class </em><code class="descclassname">source.</code><code class="descname">Motor</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor" title="Permalink to this definition">¶</a></dt>
-<dd><p>High-level class to work with motors.</p>
-<p>This class is supposed to ease the use of the brick’s motors. It is possible to set all
-kinds of parameters, request the current status of the motor ports and of course send
-commands to the brick to be executed on the respective port.</p>
-<p class="rubric">Notes</p>
-<ul class="simple">
-<li>You don’t need to create instances of this class. The EV3-class automatically creates
-instances for each motor port, and you can work with them via the EV3-object.</li>
-<li>The Motor-class represents motor ports, not individual motors!</li>
-<li>If you start a motor with power=0, the internal state will still be set to
-‘isRunning’</li>
-</ul>
-<dl class="attribute">
-<dt id="source.Motor.power">
-<code class="descname">power</code><a class="headerlink" href="#source.Motor.power" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric in [-100, 100]</em> – Power level of motor in percent. <em>[WRITABLE]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.speedRegulation">
-<code class="descname">speedRegulation</code><a class="headerlink" href="#source.Motor.speedRegulation" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>bool</em> – Speed regulation turned on or off. When turned on, motor will
-try to ‘hold’ its speed at given power level, whatever the load. In this mode, the
-highest possible speed depends on the load and mostly goes up to around 70-80 (at
-this point, the Brick internally input 100% power). When turned off, motor will
-constantly input the same power into the motor. The resulting speed will be
-somewhat lower, depending on the load. <em>[WRITABLE]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.smoothStart">
-<code class="descname">smoothStart</code><a class="headerlink" href="#source.Motor.smoothStart" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric s. t. smoothStart+smoothStop < limitValue</em> – Degrees/Time
-indicating how far/long the motor should smoothly start. Depending on limitMode,
-the input is interpreted either in degrees or milliseconds. The first
-{smoothStart}-milliseconds/degrees of limitValue the motor will slowly accelerate
-until reaching its defined speed. <em>[WRITABLE]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.smoothStop">
-<code class="descname">smoothStop</code><a class="headerlink" href="#source.Motor.smoothStop" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric s. t. smoothStart+smoothStop < limitValue</em> – Degrees/Time
-indicating how far/long the motor should smoothly stop. Depending on limitMode, the
-input is interpreted either in degrees or milliseconds. The last
-[smoothStop]-milliseconds/degrees of limitValue the motor will slowly slow down
-until it has stopped. <em>[WRITABLE]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.limitValue">
-<code class="descname">limitValue</code><a class="headerlink" href="#source.Motor.limitValue" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric>=0</em> – Degrees/Time indicating how far/long the motor should run.
-Depending on limitMode, the input is interpreted either in degrees or
-milliseconds. <em>[WRITABLE]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.limitMode">
-<code class="descname">limitMode</code><a class="headerlink" href="#source.Motor.limitMode" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>‘Tacho’|’Time’</em> – Mode for motor limit. <em>[WRITABLE]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.brakeMode">
-<code class="descname">brakeMode</code><a class="headerlink" href="#source.Motor.brakeMode" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>‘Brake’|’Coast’</em> – Action done when stopping. If ‘Coast’, the motor will (at
-tacholimit, if ~=0) coast to a stop. If ‘Brake’, the motor will stop immediately
-(at tacholimit, if ~=0) and hold the brake. <em>[WRITABLE]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.debug">
-<code class="descname">debug</code><a class="headerlink" href="#source.Motor.debug" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>bool</em> – Debug turned on or off. In debug mode, everytime a command is passed to
-the sublayer (‘communication layer’), there is feedback in the console about what
-command has been called. <em>[WRITABLE]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.isRunning">
-<code class="descname">isRunning</code><a class="headerlink" href="#source.Motor.isRunning" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>bool</em> – True if motor is running. <em>[READ-ONLY]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.tachoCount">
-<code class="descname">tachoCount</code><a class="headerlink" href="#source.Motor.tachoCount" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric</em> – Current tacho count. <em>[READ-ONLY]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.currentSpeed">
-<code class="descname">currentSpeed</code><a class="headerlink" href="#source.Motor.currentSpeed" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric</em> – Current speed of motor. If speedRegulation=on this should equal power,
-otherwise it will probably be lower than that. <em>[READ-ONLY]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Motor.type">
-<code class="descname">type</code><a class="headerlink" href="#source.Motor.type" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>DeviceType</em> – Type of connected device if any. <em>[READ-ONLY]</em></p>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Motor.internalReset">
-<code class="descname">internalReset</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.internalReset" title="Permalink to this definition">¶</a></dt>
-<dd><p>Resets internal tacho count. Use this if motor behaves weird (i.e. not starting at all, or not correctly
-running to limitValue)</p>
-<p>The internal tacho count is used for positioning the motor. When the
-motor is running with a tacho limit, internally it uses another counter than the
-one read by tachoCount. This internal tacho count needs to be reset if you
-physically change the motor’s position or it coasted into a stop. If the motor’s
-brakemode is ‘Coast’, this function is called automatically.</p>
-<p class="rubric">Notes</p>
-<ul class="simple">
-<li>A better name would probably be resetPosition...</li>
-<li>Gets called automatically when starting the motor and the internal tacho</li>
-</ul>
-<p>count is > 0</p>
-<p>See also MOTOR.RESETTACHOCOUNT</p>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Motor.resetTachoCount">
-<code class="descname">resetTachoCount</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.resetTachoCount" title="Permalink to this definition">¶</a></dt>
-<dd><p>Resets tachocount</p>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Motor.setBrake">
-<code class="descname">setBrake</code><span class="sig-paren">(</span><em>motor</em>, <em>brake</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.setBrake" title="Permalink to this definition">¶</a></dt>
-<dd><p>Apply or release brake of motor</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>brake</strong> (<em>bool</em>) – If true, brake will be pulled</td>
-</tr>
-</tbody>
-</table>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Motor.setProperties">
-<code class="descname">setProperties</code><span class="sig-paren">(</span><em>motor</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.setProperties" title="Permalink to this definition">¶</a></dt>
-<dd><p>Sets multiple Motor properties at once using MATLAB’s inputParser.</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>debug</strong> (<em>bool</em>) – </li>
-<li><strong>smoothStart</strong> (<em>numeric in [0, limitValue]</em>) – </li>
-<li><strong>smoothStop</strong> (<em>numeric in [0, limitValue]</em>) – </li>
-<li><strong>speedRegulation</strong> (<em>bool</em>) – </li>
-<li><strong>brakeMode</strong> (<em>'Coast'|'Brake'</em>) – </li>
-<li><strong>limitMode</strong> (<em>'Time'|'Tacho'</em>) – </li>
-<li><strong>limitValue</strong> (<em>numeric > 0</em>) – </li>
-<li><strong>power</strong> (<em>numeric in [-100,100]</em>) – </li>
-<li><strong>batteryMode</strong> (<em>'Voltage'|'Percentage'</em>) – </li>
-</ul>
-</td>
-</tr>
-</tbody>
-</table>
-<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); <br />
-b.motorA.setProperties(‘debug’, ‘on’, ‘power’, 50, ‘limitValue’, 720, ‘speedRegulation’, ‘on’); <br />
-% Instead of: b.motorA.debug = ‘on’; <br />
-% b.motorA.power = 50; <br />
-% b.motorA.limitValue = 720; <br />
-% b.motorA.speedRegulation = ‘on’; <br /></p>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Motor.start">
-<code class="descname">start</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.start" title="Permalink to this definition">¶</a></dt>
-<dd><p>Starts the motor</p>
-<p class="rubric">Notes</p>
-<ul class="simple">
-<li>Right now, alternatingly calling this function with and without tacho limit
-may lead to unexpected behaviour. For example, if you run the motor without
-a tacholimit for some time using Coast, then stop using Coast, and then try
-to run the with a tacholimit, it will stop sooner or later than expected,
-or may not even start at all.</li>
-<li>(OLD)After calling one of the functions to control the motor with some kind of
-limit (which is done if limit~=0), the physical brick’s power/speed value for
-starting without a limit (i.e. if limit==0) is reset to zero. So if you want
-to control the motor without a limit after doing so with a limit, you would
-have to set the power manually to the desired value again. (I don’t really
-know if this is deliberate or a bug, and at this point, I’m too afraid to ask.)
-To avoid confusion, this is done automatically in this special case.
-However, this does not even work all the time. If motor does not
-start, call stop() and setPower() manually. :/</li>
-</ul>
-<p>Check connection and if motor is already running</p>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Motor.stop">
-<code class="descname">stop</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.stop" title="Permalink to this definition">¶</a></dt>
-<dd><p>Stops the motor</p>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Motor.syncedStart">
-<code class="descname">syncedStart</code><span class="sig-paren">(</span><em>motor</em>, <em>syncMotor</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.syncedStart" title="Permalink to this definition">¶</a></dt>
-<dd><p>Starts this motor synchronized with another</p>
-<p>This motor acts as a ‘master’, meaning that the synchronized control is done via
-this one. When syncedStart is called, the master sets some of the slave’s
-(syncMotor) properties to keep it consistent with the physical brick. So, for
-example, changing the power on the master motor will take effect
-on the slave as soon as this method is called.
-The following parameters will be affected on the slave: power, brakeMode,
-limitValue, speedRegulation</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>syncMotor</strong> (<em>Motor</em>) – the motor-object to sync with</li>
-<li><strong>turnRatio</strong> (<em>numeric in [-200,200]</em>) – <p><em>[OPTIONAL]</em> <br /> (Excerpt of Firmware-comments, in c_output.c):
-“Turn ratio is how tight you turn and to what direction you turn.</p>
-<blockquote>
-<div><ul>
-<li>0 value is moving straight forward</li>
-<li>Negative values turn to the left</li>
-<li>Positive values turn to the right</li>
-<li>Value -100 stops the left motor</li>
-<li>Value +100 stops the right motor</li>
-<li>Values less than -100 makes the left motor run the opposite direction of the right motor (Spin)</li>
-<li>Values greater than +100 makes the right motor run the opposite direction of the left motor (Spin)”</li>
-</ul>
-</div></blockquote>
-</li>
-</ul>
-</td>
-</tr>
-</tbody>
-</table>
-<p class="rubric">Notes</p>
-<ul class="simple">
-<li>This is right now a pretty ‘heavy’ function, as it tests if both motors are
-connected AND aren’t running, wasting four packets, keep that in mind</li>
-<li>It is necessary to call syncedStop() and not stop() for stopping the motors
-(otherwise the sync-state cannot be exited correctly)</li>
-</ul>
-<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect(‘usb’); <br />
-m = b.motorA; <br />
-slave = b.motorB; <br />
-m.power = 50; <br />
-m.syncedStart(slave); <br />
-% Do stuff
-m.syncedStop(); <br /></p>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Motor.syncedStop">
-<code class="descname">syncedStop</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.syncedStop" title="Permalink to this definition">¶</a></dt>
-<dd><p>Stops both motors previously started with syncedStart.</p>
-<p>See also MOTOR.SYNCEDSTART</p>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Motor.waitFor">
-<code class="descname">waitFor</code><span class="sig-paren">(</span><em>motor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Motor.waitFor" title="Permalink to this definition">¶</a></dt>
-<dd><p>Stops execution of program as long as motor is running</p>
-<p class="rubric">Notes</p>
-<ul class="simple">
-<li>(OLD)This one’s a bit tricky. The opCode OutputReady makes the brick stop sending
-responses until the motor has stopped. For security reasons, in this toolbox
-there is an internal timeout for receiving messages from the brick. It raises
-an error if a reply takes too long, which would happen in this case. As a
-workaround, there is an infinite loop that catches errors from outputReady and
-continues then, until outputReady will actually finish without an error.</li>
-<li>(OLD)OutputReady (like OutputTest in isRunning) sometimes doesn’t work. If
-outputReady returns in less than a second, another while-loop iterates until
-the motor has stopped, this time using motor.isRunning() (this only works as
-long as not both OutputTest and OutputReady are buggy).</li>
-<li>(OLD)Workaround: Poll isRunning (which itself return (speed>0)) until it
-is false (No need to check if motor is connected as speed correctly
-returns 0 if it’s not)</li>
-</ul>
-</dd></dl>
-
-</dd></dl>
-
-</div>
-<div class="section" id="sensor">
-<h1>Sensor<a class="headerlink" href="#sensor" title="Permalink to this headline">¶</a></h1>
-<dl class="class">
-<dt id="source.Sensor">
-<em class="property">class </em><code class="descclassname">source.</code><code class="descname">Sensor</code><span class="sig-paren">(</span><em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Sensor" title="Permalink to this definition">¶</a></dt>
-<dd><p>High-level class to work with sensors.</p>
-<p>The Sensor-class facilitates the communication with sensors. This mainly consists of
-reading the sensor’s type and current value in a specified mode.</p>
-<p class="rubric">Notes</p>
-<ul class="simple">
-<li>You don’t need to create instances of this class. The EV3-class automatically creates
-instances for each sensor port, and you can work with them via the EV3-object.</li>
-<li>The Sensor-class represents sensor ports, not individual sensors!</li>
-</ul>
-<dl class="attribute">
-<dt id="source.Sensor.mode">
-<code class="descname">mode</code><a class="headerlink" href="#source.Sensor.mode" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>DeviceMode.{Type}</em> – Sensor mode in which the value will be read. By default,
-mode is set to DeviceMode.Default.Undefined. Once a physical sensor is connected
-to the port <em>and</em> the physical Brick is connected to the EV3-object, the allowed
-mode and the default mode for a Sensor-object are the following (depending on the
-sensor type): <em>[WRITABLE]</em></p>
-<blockquote>
-<div><ul>
-<li><dl class="first docutils">
-<dt>Touch-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.Touch.Pushed <em>[Default]</em></li>
-<li>DeviceMode.Touch.Bumps</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>Ultrasonic-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.UltraSonic.DistCM <em>[Default]</em></li>
-<li>DeviceMode.UltraSonic.DistIn</li>
-<li>DeviceMode.UltraSonic.Listen</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>Color-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.Color.Reflect <em>[Default]</em></li>
-<li>DeviceMode.Color.Ambient</li>
-<li>DeviceMode.Color.Col</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>Gyro-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.Gyro.Angular <em>[Default]</em></li>
-<li>DeviceMode.Gyro.Rate</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>Infrared-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.InfraRed.Prox <em>[Default]</em></li>
-<li>DeviceMode.InfraRed.Seek</li>
-<li>DeviceMode.InfraRed.Remote</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>NXTColor-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.NXTColor.Reflect <em>[Default]</em></li>
-<li>DeviceMode.NXTColor.Ambient</li>
-<li>DeviceMode.NXTColor.Color</li>
-<li>DeviceMode.NXTColor.Green</li>
-<li>DeviceMode.NXTColor.Blue</li>
-<li>DeviceMode.NXTColor.Raw</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>NXTLight-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.NXTLight.Reflect <em>[Default]</em></li>
-<li>DeviceMode.NXTLight.Ambient</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>NXTSound-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.NXTSound.DB <em>[Default]</em></li>
-<li>DeviceMode.NXTSound.DBA</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>NXTTemperature-Sensor</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.NXTTemperature.C <em>[Default]</em></li>
-<li>DeviceMode.NXTTemperature.F</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>NXTTouch-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.NXTTouch.Pushed <em>[Default]</em></li>
-<li>DeviceMode.NXTTouch.Bumps</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>NXTUltraSonic-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.NXTUltraSonic.CM <em>[Default]</em></li>
-<li>DeviceMode.NXTUltraSonic.IN</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>HTAccelerometer-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.HTAccelerometer.Acceleration <em>[Default]</em></li>
-<li>DeviceMode.HTAccelerometer.AccelerationAllAxes</li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>HTCompass-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.HTCompass.Degrees <em>[Default]</em></li>
-</ul>
-</dd>
-</dl>
-</li>
-<li><dl class="first docutils">
-<dt>HTColor-Sensor:</dt>
-<dd><ul class="first last simple">
-<li>DeviceMode.HTColor.Col <em>[Default]</em></li>
-<li>DeviceMode.HTColor.Red</li>
-<li>DeviceMode.HTColor.Green</li>
-<li>DeviceMode.HTColor.Blue</li>
-<li>DeviceMode.HTColor.White</li>
-<li>DeviceMode.HTColor.Raw</li>
-<li>DeviceMode.HTColor.Nr,</li>
-<li>DeviceMode.HTColor.All</li>
-</ul>
-</dd>
-</dl>
-</li>
-</ul>
-</div></blockquote>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Sensor.debug">
-<code class="descname">debug</code><a class="headerlink" href="#source.Sensor.debug" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>bool</em> – Debug turned on or off. In debug mode, everytime a command is passed to
-the sublayer (‘communication layer’), there is feedback in the console about what
-command has been called. <em>[WRITABLE]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Sensor.value">
-<code class="descname">value</code><a class="headerlink" href="#source.Sensor.value" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>numeric</em> – Value read from hysical sensor. What the value represents depends on
-sensor.mode. <em>[READ-ONLY]</em></p>
-</dd></dl>
-
-<dl class="attribute">
-<dt id="source.Sensor.type">
-<code class="descname">type</code><a class="headerlink" href="#source.Sensor.type" title="Permalink to this definition">¶</a></dt>
-<dd><p><em>DeviceType</em> – Type of physical sensor connected to the port. Possible types are: [READ-ONLY]</p>
-<ul class="simple">
-<li>DeviceType.NXTTouch</li>
-<li>DeviceType.NXTLight</li>
-<li>DeviceType.NXTSound</li>
-<li>DeviceType.NXTColor</li>
-<li>DeviceType.NXTUltraSonic</li>
-<li>DeviceType.NXTTemperature</li>
-<li>DeviceType.LargeMotor</li>
-<li>DeviceType.MediumMotor</li>
-<li>DeviceType.Touch</li>
-<li>DeviceType.Color</li>
-<li>DeviceType.UltraSonic</li>
-<li>DeviceType.Gyro</li>
-<li>DeviceType.InfraRed</li>
-<li>DeviceType.HTColor</li>
-<li>DeviceType.HTCompass</li>
-<li>DeviceType.HTAccelerometer</li>
-<li>DeviceType.Unknown</li>
-<li>DeviceType.None</li>
-<li>DeviceType.Error</li>
-</ul>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Sensor.reset">
-<code class="descname">reset</code><span class="sig-paren">(</span><em>sensor</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Sensor.reset" title="Permalink to this definition">¶</a></dt>
-<dd><p>Resets value on sensor</p>
-<p class="rubric">Notes</p>
-<ul class="simple">
-<li>This clears ALL the sensors right now, no other Op-Code available... :(</li>
-</ul>
-</dd></dl>
-
-<dl class="method">
-<dt id="source.Sensor.setProperties">
-<code class="descname">setProperties</code><span class="sig-paren">(</span><em>sensor</em>, <em>varargin</em><span class="sig-paren">)</span><a class="headerlink" href="#source.Sensor.setProperties" title="Permalink to this definition">¶</a></dt>
-<dd><p>Sets multiple Sensor properties at once using MATLAB’s inputParser.</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>debug</strong> (<em>bool</em>) – </li>
-<li><strong>mode</strong> (<em>DeviceMode.{Type}</em>) – </li>
-</ul>
-</td>
-</tr>
-</tbody>
-</table>
-<p class="rubric">Example</p>
-<p>b = EV3(); <br />
-b.connect(‘bt’, ‘serPort’, ‘/dev/rfcomm0’); <br />
-b.sensor1.setProperties(‘debug’, ‘on’, ‘mode’, DeviceMode.Color.Ambient); <br />
-% Instead of: b.sensor1.debug = ‘on’; <br />
-% b.sensor1.mode = DeviceMode.Color.Ambient; <br /></p>
-</dd></dl>
-
-</dd></dl>
-
</div>
diff --git a/docs/process.py b/docs/process.py
index a669d643c85783eb513765fc185bdb054dc2ccc9..14e26754d2e9fa83bc9a4f855dcfd45226c613e1 100644
--- a/docs/process.py
+++ b/docs/process.py
@@ -78,7 +78,33 @@ def postprocess():
continue
except IOError:
pass
-
+
+ postprocess_html_files()
+
+def postprocess_html_files():
+ documented_classes = ['Motor', 'Sensor', 'EV3']
+
+ for file_name in documented_classes:
+ current_file = os.path.abspath('_build/html/' + file_name + '.html')
+ try:
+ fh, abs_path = mkstemp()
+ with open(current_file, 'r') as f_old:
+ with open(abs_path, 'w') as f_new:
+ content = f_old.readlines()
+ # print('opened ' + current_file)
+ for i, line in enumerate(content):
+ if('‘' in line or '’' in line):
+ f_new.write(line.replace('‘', '\'').replace('’', '\''))
+ else:
+ f_new.write(line)
+ print('Postprocessed file ' + current_file)
+ close(fh)
+ remove(current_file)
+ move(abs_path, current_file)
+ except IOError:
+ print('WARNING: Couldn''t postprocess html-file ' + current_file)
+ continue
+
def _ignore_line(line) -> bool:
return (line.startswith('%') or line == '\n' or line == '')