diff --git a/source/Sensor.m b/source/Sensor.m
index a7300c21c8fb501124b2407c7fdf09a30ad42f91..8efc71f765f357bc0afbb6f7d49db7fcf8d9f382 100644
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -1,5 +1,6 @@
classdef Sensor < MaskedHandle
- % High-level class to work with sensors.
+ % High-level class to work with sensors. Information given in this doc can be used to adjust settings of
+ % sensor objects within the EV3 class.
%
% The Sensor-class facilitates the communication with sensors. This mainly consists of
% reading the sensor's type and current value in a specified mode.
@@ -14,62 +15,124 @@ classdef Sensor < MaskedHandle
% follows: *brickObject.motorA.setProperties('power', 50);*
%
% Attributes:
- % mode (DeviceMode.{Type}): Sensor mode in which the value will be read. By default, mode is set to *DeviceMode.Default.Undefined*. See also :attr:`type`. *[WRITABLE]* |br| Once a physical sensor is connected to the port *and* 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):
+ % mode (DeviceMode.{Type}): Sensor mode in which the value will be read. By default, mode is set to *DeviceMode.Default.Undefined*. See also :attr:`type`. *[WRITABLE]* |br| Once a physical sensor is connected to the port *and* 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):
%
% * Touch-Sensor:
% * DeviceMode.Touch.Pushed *[Default]*
+ % *Output: 0: not pushed, 1: pushed
% * DeviceMode.Touch.Bumps
+ % *Output: n: number of times being pushed
% * Ultrasonic-Sensor:
% * DeviceMode.UltraSonic.DistCM *[Default]*
+ % *Output: distance in cm
+ % *Note: actively creates ultrasonic sound
% * DeviceMode.UltraSonic.DistIn
+ % *Output: distance in inches
+ % *Note: actively creates ultrasonic sound
% * DeviceMode.UltraSonic.Listen
+ % *Output: distance in cm
+ % *Note: ONLY listens to other sources (sensors) of ultrasonic sound
% * Color-Sensor:
% * DeviceMode.Color.Reflect *[Default]*
+ % *Output: value in range 0% to 100% brightness
% * DeviceMode.Color.Ambient
+ % *Output: value in range 0% to 100% brightness
% * DeviceMode.Color.Col
+ % *Output: none, black, blue, green. yellow, red, white, brown
% * Gyro-Sensor:
% * DeviceMode.Gyro.Angular *[Default]*
% * DeviceMode.Gyro.Rate
+ % *Output: rotational speed [degree/s]. Expect small offset in resting position
% * Infrared-Sensor:
% * DeviceMode.InfraRed.Prox *[Default]*
+ % * Note: currently not recognized
% * DeviceMode.InfraRed.Seek
% * DeviceMode.InfraRed.Remote
% * NXTColor-Sensor:
% * DeviceMode.NXTColor.Reflect *[Default]*
+ % *Output: value in range 0% to 100% brightness
% * DeviceMode.NXTColor.Ambient
+ % *Output: value in range 0% to 100% brightness
% * DeviceMode.NXTColor.Color
+ % *Output: value representing color:
+ % 1 - black
+ % 2 - blue
+ % 3 - green
+ % 4 - yellow
+ % 5 - red
+ % 6 - white
+ % 7 - brown
% * DeviceMode.NXTColor.Green
+ % *Output: value in range 0% to 100% of green reflectivityniedrige intensität farbe
% * DeviceMode.NXTColor.Blue
+ % *Output: value in range 0% to 100% of blue reflectivity
% * DeviceMode.NXTColor.Raw
+ % *Note: obsolete, functionality available in other modes. Also not working properly. Returning 1 value instead of 3
% * NXTLight-Sensor:
% * DeviceMode.NXTLight.Reflect *[Default]*
+ % *Output: value in range 0% to 100% brightness
% * DeviceMode.NXTLight.Ambient
+ % *Output: value in range 0% to 100% brightness
% * NXTSound-Sensor:
% * DeviceMode.NXTSound.DB *[Default]*
+ % *Output: value in decibel
% * DeviceMode.NXTSound.DBA
+ % *Output: value in dba weighted according to human hearing
% * NXTTemperature-Sensor
% * DeviceMode.NXTTemperature.C *[Default]*
% * DeviceMode.NXTTemperature.F
% * NXTTouch-Sensor:
% * DeviceMode.NXTTouch.Pushed *[Default]*
+ % *Output: 0: not pushed, 1: pushed
% * DeviceMode.NXTTouch.Bumps
+ % *Output: n: number of times pressed and released
% * NXTUltraSonic-Sensor:
% * DeviceMode.NXTUltraSonic.CM *[Default]*
+ % *Output: distance in cm
% * DeviceMode.NXTUltraSonic.IN
+ % *Output: distance in inches
% * HTAccelerometer-Sensor:
% * DeviceMode.HTAccelerometer.Acceleration *[Default]*
% * DeviceMode.HTAccelerometer.AccelerationAllAxes
+ % *Note: Not working properly. Returning 1 value instead of 6
% * HTCompass-Sensor:
% * DeviceMode.HTCompass.Degrees *[Default]*
+ % * Note: currently not recognized
% * HTColor-Sensor:
% * DeviceMode.HTColor.Col *[Default]*
+ % *Output: value representing color:
+ % 0 - black
+ % 1 - purple
+ % 2 - blue
+ % 3 - cyan
+ % 4 - green
+ % 5 - green/ yellow
+ % 6 - yellow
+ % 7 - orange
+ % 8 - red
+ % 9 - magenta
+ % 10 - pink
+ % 11 - low saturation blue
+ % 12 - low saturation green
+ % 13 - low saturation yellow
+ % 14 - low saturation orange
+ % 15 - low saturation red
+ % 16 - low saturation pink
+ % 17 - white
% * DeviceMode.HTColor.Red
+ % *Output: value in range 0 to 255 of red reflectivity
% * DeviceMode.HTColor.Green
+ % *Output: value in range 0 to 255 of green reflectivity
% * DeviceMode.HTColor.Blue
+ % *Output: value in range 0 to 255 of blue reflectivity
% * DeviceMode.HTColor.White
+ % *Output: value in range 0 to 255 of white reflectivity
% * DeviceMode.HTColor.Raw
- % * DeviceMode.HTColor.Nr,
+ % *Note: obsolete, color values available in other modes. Also not working properly. Returning 1 value instead of 3
+ % * DeviceMode.HTColor.Nrm,
+ % *Note: obsolete, normalized values available in other modes. Also not working properly. Returning 1 value instead of 4
% * DeviceMode.HTColor.All
+ % *Note: obsolete, all values available in other modes. Also not working properly. Returning 1 value instead of 4
% debug (bool): 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. *[WRITABLE]*
@@ -100,7 +163,7 @@ classdef Sensor < MaskedHandle
properties % Standard properties to be set by user
% mode (DeviceMode.{Type}): 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 *and* the physical Brick is connected to the EV3-object, the allowed
+ % to the port *and* the physical Brick is connected to the EV3-object afterwards, the allowed
% mode and the default mode for a Sensor-object are the following (depending on the
% sensor type): [WRITABLE]
%
@@ -289,11 +352,15 @@ classdef Sensor < MaskedHandle
% mode (DeviceMode.{Type}): *[OPTIONAL]*
%
% Example:
- % 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|
+ % b = EV3(); |br|
+ % b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
+ %
+ % % use the following line:
+ % 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 = inputParser();
@@ -464,4 +531,4 @@ classdef Sensor < MaskedHandle
end
end
end
-end
+end
\ No newline at end of file