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Commit a8eb7041 authored by Maximilian Schnabel's avatar Maximilian Schnabel
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Added additional information about output of sensors

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2 merge requests!7Keep going if mountpoint exists (persistent),!6Docs NXT compatibility
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source/Sensor.m
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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
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