From ace6ba21eb43814d668e3f85bcdea3c7d0b64efe Mon Sep 17 00:00:00 2001
From: Tim Stadtmann <tim.stadtmann@rwth-aachen.de>
Date: Sun, 14 Aug 2016 20:07:32 +0200
Subject: [PATCH] Add, update and clean-up utility functions
---
examples/exampleCommLayer.m | 81 -------------
{examples => old_examples}/testConnSpeed.m | 0
{examples => old_examples}/testSyncMotor.m | 0
{examples => old_examples}/testToolbox.m | 0
source/+DeviceMode/{Error.m => Default.m} | 4 +-
source/bitfield2input.m | 10 ++
source/bitfield2port.m | 9 +-
source/bool2str.m | 4 +
source/input2bitfield.m | 8 ++
source/input2port.m | 4 +-
source/isBool.m | 12 +-
source/isDeviceValid.m | 13 +++
source/isModeValid.m | 30 ++---
source/isMotorValid.m | 9 --
source/isPortEnumValid.m | 27 +++++
source/isPortStrValid.m | 19 +++
source/isPortValid.m | 36 ------
source/isSensorValid.m | 9 --
source/isSyncedBitfield.m | 21 ++++
source/port2bitfield.m | 6 +-
source/port2input.m | 4 +-
source/port2str.m | 130 +++++++++++----------
source/str2PortParam.m | 128 ++++++++++----------
source/str2bool.m | 11 +-
24 files changed, 275 insertions(+), 300 deletions(-)
delete mode 100644 examples/exampleCommLayer.m
rename {examples => old_examples}/testConnSpeed.m (100%)
rename {examples => old_examples}/testSyncMotor.m (100%)
rename {examples => old_examples}/testToolbox.m (100%)
rename source/+DeviceMode/{Error.m => Default.m} (52%)
create mode 100644 source/bitfield2input.m
create mode 100644 source/input2bitfield.m
create mode 100644 source/isDeviceValid.m
delete mode 100644 source/isMotorValid.m
create mode 100644 source/isPortEnumValid.m
create mode 100644 source/isPortStrValid.m
delete mode 100644 source/isPortValid.m
delete mode 100644 source/isSensorValid.m
create mode 100644 source/isSyncedBitfield.m
diff --git a/examples/exampleCommLayer.m b/examples/exampleCommLayer.m
deleted file mode 100644
index 48f27d2..0000000
--- a/examples/exampleCommLayer.m
+++ /dev/null
@@ -1,81 +0,0 @@
-% init the connection
-disp('Connecting ... ')
-% brick usb init
-b = Brick('ioType','usb');
-% beep to indicate connection
-b.beep();
-% print information
-disp('===================================')
-disp('EV3 example code')
-disp('===================================')
-disp('u - increase motor speed')
-disp('d - decrease motor speed')
-disp('t - start the motor')
-disp('s - stop the motor')
-disp('b - beep')
-disp('o - output the tachometer')
-disp('c - clear the tachometer')
-disp('v - output the brick voltage')
-disp('f - quit the program');
-disp('===================================')
-% user intput
-userIn = '';
-% motor power
-motorPower = 10;
-% set motor power and start
-b.outputPower(0,Device.MotorA,motorPower)
-b.outputStart(0,Device.MotorA)
-while(~strcmp(userIn,'f'))
- % get input
- userIn = input('> Input(u,d,t,s,b,o,c,v,f): ','s');
- % increase speed
- if (userIn == 'u')
- motorPower = motorPower+10;
- if motorPower >= 100
- motorPower = 100;
- end
- b.outputPower(0,Device.MotorA,motorPower)
- disp(['> Motor Power: ' num2str(motorPower)]);
- end
- % decrease speed
- if (userIn == 'd')
- motorPower = motorPower-10;
- if motorPower <= -100
- motorPower = -100;
- end
- b.outputPower(0,Device.MotorA,motorPower)
- disp(['> Motor Power: ' num2str(motorPower)]);
- end
- % start the motor
- if (userIn == 't')
- b.outputStart(0,Device.MotorA)
- disp('> Motor Started');
- end
- % stop the motor
- if (userIn == 's')
- b.outputStop(0,Device.MotorA,0)
- disp('> Motor Stopped');
- end
- % beep test
- if (userIn == 'b')
- b.beep();
- disp('> Beep');
- end
- % output the tachometer
- if (userIn == 'o')
- tacho = b.outputGetCount(0,Device.MotorA);
- disp(['> Tachometer: ' num2str(tacho)]);
- end
- % clear the tachometer
- if (userIn == 'c')
- b.outputClrCount(0,Device.MotorA)
- disp('> Cleared tacho');
- end
- % voltage output
- if (userIn == 'v')
- v = b.uiReadVbatt;
- disp(['> Brick voltage: ' num2str(v) 'V']);
- end
-end
-% delete the brick object
-delete(b)
\ No newline at end of file
diff --git a/examples/testConnSpeed.m b/old_examples/testConnSpeed.m
similarity index 100%
rename from examples/testConnSpeed.m
rename to old_examples/testConnSpeed.m
diff --git a/examples/testSyncMotor.m b/old_examples/testSyncMotor.m
similarity index 100%
rename from examples/testSyncMotor.m
rename to old_examples/testSyncMotor.m
diff --git a/examples/testToolbox.m b/old_examples/testToolbox.m
similarity index 100%
rename from examples/testToolbox.m
rename to old_examples/testToolbox.m
diff --git a/source/+DeviceMode/Error.m b/source/+DeviceMode/Default.m
similarity index 52%
rename from source/+DeviceMode/Error.m
rename to source/+DeviceMode/Default.m
index 244ea15..1efa576 100644
--- a/source/+DeviceMode/Error.m
+++ b/source/+DeviceMode/Default.m
@@ -1,6 +1,4 @@
-classdef Error < uint8
- %Error Test
-
+classdef Default < uint8
enumeration
Undefined (0)
end
diff --git a/source/bitfield2input.m b/source/bitfield2input.m
new file mode 100644
index 0000000..2f59bb0
--- /dev/null
+++ b/source/bitfield2input.m
@@ -0,0 +1,10 @@
+function inputPort = bitfield2input(bitfield)
+% Converts a motor-bitfield to motor-inputport-number(s).
+ [isSynced, ~, ~] = isSyncedBitfield(bitfield);
+ if isSynced
+ ports = bitfield2port(bitfield);
+ inputPort = [port2input(ports(1)), port2input(ports(2))];
+ else
+ inputPort = port2input(bitfield2port(bitfield));
+ end
+end
\ No newline at end of file
diff --git a/source/bitfield2port.m b/source/bitfield2port.m
index 1b5ab92..85f52b0 100644
--- a/source/bitfield2port.m
+++ b/source/bitfield2port.m
@@ -1,4 +1,9 @@
function port = bitfield2port(bitfield)
-% Converts motorBitfield-enum to motorPort-enum.
- port = MotorPort(log2(double(bitfield)));
+% Converts motor-bitfield to motor-port-number(s).
+ [isSynced, b1, b2] = isSyncedBitfield(bitfield);
+ if isSynced
+ port = [b1-1, b2-1];
+ else
+ port = uint8(log2(double(bitfield)));
+ end
end
\ No newline at end of file
diff --git a/source/bool2str.m b/source/bool2str.m
index e820015..f397f84 100644
--- a/source/bool2str.m
+++ b/source/bool2str.m
@@ -10,6 +10,10 @@ function bool = bool2str(inp)
elseif inp~=0
error('bool2str: Not a valid boolean.');
end
+ elseif islogical(inp)
+ if inp==true
+ bool = 'on';
+ end
end
end
diff --git a/source/input2bitfield.m b/source/input2bitfield.m
new file mode 100644
index 0000000..cbc3d9e
--- /dev/null
+++ b/source/input2bitfield.m
@@ -0,0 +1,8 @@
+function bitfield = input2bitfield(varargin)
+% Converts motor-inputport-number(s) to motor-bitfield.
+ if nargin==1
+ bitfield = port2bitfield(input2port(varargin{1}));
+ elseif nargin==2
+ bitfield = port2bitfield(input2port(varargin{1}), input2port(varargin{2}));
+ end
+end
diff --git a/source/input2port.m b/source/input2port.m
index 98bc1b2..4765c3a 100644
--- a/source/input2port.m
+++ b/source/input2port.m
@@ -1,4 +1,4 @@
function port = input2port(input)
-% Converts motorInput-enum to motorPort-enum.
- port = MotorPort(input-16);
+% Converts a motor-inputport-number to motor-port-number.
+ port = uint8(input)-16;
end
\ No newline at end of file
diff --git a/source/isBool.m b/source/isBool.m
index b7cbb71..c1711a9 100644
--- a/source/isBool.m
+++ b/source/isBool.m
@@ -1,15 +1,11 @@
function isValid = isBool(inp)
% Returns whether given boolean is valid or not.
- isValid = 0;
if ischar(inp)
- if strcmpi(inp, 'on') || strcmpi(inp, 'true') ...
- || strcmpi(inp, 'off') || strcmpi(inp, 'false')
- isValid = 1;
- end
+ isValid = strcmpi(inp, 'on') || strcmpi(inp, 'off');
elseif isnumeric(inp)
- if inp==1 || inp==0
- isValid = 1;
- end
+ isValid = inp==1 || inp==0;
+ else
+ isValid = islogical(inp);
end
end
diff --git a/source/isDeviceValid.m b/source/isDeviceValid.m
new file mode 100644
index 0000000..a0bcc93
--- /dev/null
+++ b/source/isDeviceValid.m
@@ -0,0 +1,13 @@
+function isValid = isDeviceValid(deviceType, device)
+% Returns whether given device object is valid or not.
+ isValid = 0;
+ try
+ if ~isempty(device)
+ if isa(device, deviceType) && device.isvalid
+ isValid = 1;
+ end
+ end
+ catch ME
+ % Ignore
+ end
+end
diff --git a/source/isModeValid.m b/source/isModeValid.m
index ef88e57..ac5b575 100644
--- a/source/isModeValid.m
+++ b/source/isModeValid.m
@@ -1,6 +1,6 @@
function isValid = isModeValid(mode, type)
% Returns whether given mode is a valid mode in given type.
- isValid = 1;
+ isValid = true;
if strcmp(class(mode), 'DeviceMode.Error')
return;
@@ -9,56 +9,58 @@ function isValid = isModeValid(mode, type)
switch type
case DeviceType.NXTTouch
if ~strcmp(class(mode), 'DeviceMode.NXTTouch')
- isValid = 0;
+ isValid = false;
end
case DeviceType.NXTLight
if ~strcmp(class(mode), 'DeviceMode.NXTLight')
- isValid = 0;
+ isValid = false;
end
case DeviceType.NXTSound
if ~strcmp(class(mode), 'DeviceMode.NXTSound')
- isValid = 0;
+ isValid = false;
end
case DeviceType.NXTColor
if ~strcmp(class(mode), 'DeviceMode.NXTColor')
- isValid = 0;
+ isValid = false;
end
case DeviceType.NXTUltraSonic
if ~strcmp(class(mode), 'DeviceMode.NXTUltraSonic')
- isValid = 0;
+ isValid = false;
end
case DeviceType.NXTTemperature
if ~strcmp(class(mode), 'DeviceMode.NXTTemperature')
- isValid = 0;
+ isValid = false;
end
case DeviceType.LargeMotor
if ~strcmp(class(mode), 'DeviceMode.Motor')
- isValid = 0;
+ isValid = false;
end
case DeviceType.MediumMotor
if ~strcmp(class(mode), 'DeviceMode.Motor')
- isValid = 0;
+ isValid = false;
end
case DeviceType.Touch
if ~strcmp(class(mode), 'DeviceMode.Touch')
- isValid = 0;
+ isValid = false;
end
case DeviceType.Color
if ~strcmp(class(mode), 'DeviceMode.Color')
- isValid = 0;
+ isValid = false;
end
case DeviceType.UltraSonic
if ~strcmp(class(mode), 'DeviceMode.UltraSonic')
- isValid = 0;
+ isValid = false;
end
case DeviceType.Gyro
if ~strcmp(class(mode), 'DeviceMode.Gyro')
- isValid = 0;
+ isValid = false;
end
case DeviceType.InfraRed
if ~strcmp(class(mode), 'DeviceMode.InfraRed')
- isValid = 0;
+ isValid = false;
end
+ otherwise
+ isValid = false;
end
end
diff --git a/source/isMotorValid.m b/source/isMotorValid.m
deleted file mode 100644
index a645107..0000000
--- a/source/isMotorValid.m
+++ /dev/null
@@ -1,9 +0,0 @@
-function isValid = isMotorValid(motor)
-% Returns whether given motor object is valid or not.
- isValid = 0;
- if ~isempty(motor)
- if isa(motor, 'Motor') && motor.isvalid
- isValid = 1;
- end
- end
-end
diff --git a/source/isPortEnumValid.m b/source/isPortEnumValid.m
new file mode 100644
index 0000000..009c995
--- /dev/null
+++ b/source/isPortEnumValid.m
@@ -0,0 +1,27 @@
+function isValid = isPortEnumValid(device, port)
+% Returns whether given port-number is valid for given device
+ isValid = false;
+
+ if ~ischar(device)
+ error(['isPortValid: First argument has to be a string (''Sensor'', ',...
+ '''Motor'' or ''SyncMotor'')']);
+ end
+
+ try
+ if strcmpi(device, 'Motor')
+ if ~isa(port, 'MotorBitfield')
+ MotorBitfield(port);
+ end
+ isValid = true; % Otherwise, an error would have already been thrown
+ elseif strcmpi(device, 'Sensor')
+ if ~isa(port, 'SensorPort')
+ SensorPort(port);
+ end
+ isValid = true; % Otherwise, an error would have already been thrown
+ elseif strcmpi(device, 'SyncMotor')
+ isValid = isSyncedBitfield(port);
+ end
+ catch ME
+ % Ignore
+ end
+end
diff --git a/source/isPortStrValid.m b/source/isPortStrValid.m
new file mode 100644
index 0000000..4b2398b
--- /dev/null
+++ b/source/isPortStrValid.m
@@ -0,0 +1,19 @@
+function isValid = isPortStrValid(device, port)
+% Returns whether given port-number is valid for given device
+ if strcmpi(device, 'Motor')
+ validPorts = {'A', 'B', 'C', 'D'};
+ elseif strcmpi(device, 'Sensor')
+ validPorts = {'1', '2', '3', '4'};
+ elseif strcmpi(device, 'SyncMotor')
+ validPorts = {'AB', 'AC', 'AD', 'BA', 'BC', 'BD', ...
+ 'CA', 'CB', 'CD', 'DA', 'DB', 'DC'};
+ else
+ error(['isPortValid: First argument has to be either ''Sensor'', ',...
+ '''Motor'' or ''SyncMotor''']);
+ end
+
+ if ischar(port)
+ isValid = ismember(port, validPorts);
+ end
+end
+
diff --git a/source/isPortValid.m b/source/isPortValid.m
deleted file mode 100644
index b2050fe..0000000
--- a/source/isPortValid.m
+++ /dev/null
@@ -1,36 +0,0 @@
-function isValid = isPortValid(device, port)
-% Returns whether given port-string is valid or not.
- isValid = 0;
-
- if ~ischar(device)
- error(['isPortValid: First argument has to be a string (''Sensor'', ',...
- '''Motor'' or ''SyncMotor'')']);
- end
-
- if strcmpi(device, 'Motor')
- validPorts = {'A', 'B', 'C', 'D'};
- elseif strcmpi(device, 'Sensor')
- validPorts = {'1', '2', '3', '4'};
- elseif strcmpi(device, 'SyncMotor')
- validPorts = {'AB', 'AC', 'AD', 'BA', 'BC', 'BD', ...
- 'CA', 'CB', 'CD', 'DA', 'DB', 'DC'};
- else
- error(['isPortValid: First argument has to be either ''Sensor'', ',...
- '''Motor'' or ''SyncMotor''']);
- end
-
- % Note: Both port2str() and validatestring() generate errors if the input
- % argument is 'wrong'. This method here isn't supposed to do this,
- % it's only supposed to return whether given port is valid or not.
- try
- if ~ischar(port)
- port = port2str(device, port);
- end
-
- if any(validatestring(port, validPorts))
- isValid = 1;
- end
- catch
- return;
- end
-end
diff --git a/source/isSensorValid.m b/source/isSensorValid.m
deleted file mode 100644
index fb01ec7..0000000
--- a/source/isSensorValid.m
+++ /dev/null
@@ -1,9 +0,0 @@
-function isValid = isSensorValid(sensor)
-% Returns whether given sensor object is valid or not.
- isValid = 0;
- if ~isempty(sensor)
- if isa(sensor, 'Sensor') && sensor.isvalid
- isValid = 1;
- end
- end
-end
diff --git a/source/isSyncedBitfield.m b/source/isSyncedBitfield.m
new file mode 100644
index 0000000..08ae85c
--- /dev/null
+++ b/source/isSyncedBitfield.m
@@ -0,0 +1,21 @@
+function [isSynced, bit1, bit2] = isSyncedBitfield(bitfield)
+% A SyncMotor-port is the sum of the two ports to sync
+% -> As motor ports are represented by bitfields, check how many bits are set (2
+% bits = 2 ports).
+% -> Just checking 'port' against allowed values would have been too easy :)
+ bit1 = 0; bit2 = 0;
+
+ setBits = [];
+ for i=1:4
+ if bitget(bitfield, i) == 1
+ setBits = [setBits, i];
+ end
+ end
+
+ isSynced = (bitfield<=15)&&(length(setBits)==2);
+ if isSynced
+ bit1 = setBits(1);
+ bit2 = setBits(2);
+ end
+end
+
diff --git a/source/port2bitfield.m b/source/port2bitfield.m
index b4e5de4..9f8d2c7 100644
--- a/source/port2bitfield.m
+++ b/source/port2bitfield.m
@@ -1,8 +1,8 @@
function bitfield = port2bitfield(varargin)
-% Converts a motorPort-enum to motorBitfield-enum.
+% Converts motor-port-number(s) to motor-bitfield.
if nargin==1
- bitfield = MotorBitfield(2 ^ varargin{1});
+ bitfield = uint8(2 ^ varargin{1});
elseif nargin==2
- bitfield = MotorBitfield(2 ^ (varargin{1}+varargin{2}));
+ bitfield = uint8(2 ^varargin{1}+2^varargin{2});
end
end
diff --git a/source/port2input.m b/source/port2input.m
index cd3bbad..58c3076 100644
--- a/source/port2input.m
+++ b/source/port2input.m
@@ -1,4 +1,4 @@
function input = port2input(port)
-% Converts a motorPort-enum to motorInput-enum.
- input = MotorInput(port+16);
+% Converts a motor-port-number to motor-inputport-number.
+ input = uint8(port)+16;
end
\ No newline at end of file
diff --git a/source/port2str.m b/source/port2str.m
index 696b990..048613d 100644
--- a/source/port2str.m
+++ b/source/port2str.m
@@ -1,72 +1,82 @@
-function port = port2str(device, inp)
+function portStr = port2str(varargin)
% Converts a port-enum to corresponding-string.
- if ~ischar(device)
- error(['port2str: First argument has to be a string (''Sensor'', ',...
- '''Motor'' or ''SyncMotor'')']);
+ p = inputParser();
+
+ validDevices = {'Motor', 'Sensor', 'SyncMotor'};
+ validPortTypes = {'Bitfield', 'PortNo', 'InputPortNo'};
+ checkDevice = @(x) ismember(x, validDevices);
+ checkPortType = @(x) ismember(x, validPortTypes);
+
+ p.addRequired('device', checkDevice);
+ p.addRequired('port');
+ p.addOptional('portType', 'Bitfield', checkPortType);
+
+ p.parse(varargin{:});
+
+ device = p.Results.device;
+ port = p.Results.port;
+ portType = p.Results.portType;
+
+ if ~isPortEnumValid(device, port)
+ error('port2str: Given parameter is not a valid port-enum');
end
if strcmpi(device, 'Motor')
- if ~ischar(inp)
- if inp == MotorBitfield.MotorA || inp == MotorPort.MotorA || ...
- inp == MotorInput.MotorA
- port = 'A';
- elseif inp == MotorBitfield.MotorB || inp == MotorPort.MotorB || ...
- inp == MotorInput.MotorB
- port = 'B';
- elseif inp == MotorBitfield.MotorC || inp == MotorPort.MotorC || ...
- inp == MotorInput.MotorC
- port = 'C';
- elseif inp == MotorBitfield.MotorD || inp == MotorPort.MotorD || ...
- inp == MotorInput.MotorD
- port = 'D';
- else
- error('port2str: Given parameter is not a valid motor port.' );
+ if strcmpi(portType, 'Bitfield')
+ if port == MotorBitfield.MotorA
+ portStr = 'A';
+ elseif port == MotorBitfield.MotorB
+ portStr = 'B';
+ elseif port == MotorBitfield.MotorC
+ portStr = 'C';
+ elseif port == MotorBitfield.MotorD
+ portStr = 'D';
+ end
+ elseif strcmpi(portType, 'PortNo')
+ if port == MotorPort.MotorA
+ portStr = 'A';
+ elseif port == MotorPort.MotorB
+ portStr = 'B';
+ elseif port == MotorPort.MotorC
+ portStr = 'C';
+ elseif port == MotorPort.MotorD
+ portStr = 'D';
+ end
+ elseif strcmpi(portType, 'InputPortNo')
+ if port == MotorInput.MotorA
+ portStr = 'A';
+ elseif port == MotorInput.MotorB
+ portStr = 'B';
+ elseif port == MotorInput.MotorC
+ portStr = 'C';
+ elseif port == MotorInput.MotorD
+ portStr = 'D';
end
- else
- warning('port2str: Given parameter already is a string.');
- port = inp;
end
elseif strcmpi(device, 'Sensor')
- if ~ischar(inp)
- if inp == SensorPort.Sensor1
- port = '1';
- elseif inp == SensorPort.Sensor2
- port = '2';
- elseif inp == SensorPort.Sensor3
- port = '3';
- elseif inp == SensorPort.Sensor4
- port = '4';
- else
- error('port2str: Given parameter is not a valid sensor port.' );
- end
- else
- warning('port2str: Given parameter already is a string.');
- port = inp;
+ if port == SensorPort.Sensor1
+ portStr = '1';
+ elseif port == SensorPort.Sensor2
+ portStr = '2';
+ elseif port == SensorPort.Sensor3
+ portStr = '3';
+ elseif port == SensorPort.Sensor4
+ portStr = '4';
end
elseif strcmpi(device, 'SyncMotor')
- if ~ischar(inp)
- switch inp
- case MotorBitfield.MotorA+MotorBitfield.MotorB
- port = 'AB';
- case MotorBitfield.MotorA+MotorBitfield.MotorC
- port = 'AC';
- case MotorBitfield.MotorA+MotorBitfield.MotorD
- port = 'AD';
- case MotorBitfield.MotorB+MotorBitfield.MotorC
- port = 'BC';
- case MotorBitfield.MotorB+MotorBitfield.MotorD
- port = 'BD';
- case MotorBitfield.MotorC+MotorBitfield.MotorD
- port = 'CD';
- otherwise
- error('port2str: Given parameter is not a valid motor port.' );
- end
- else
- warning('port2str: Given parameter already is a string.');
- port = inp;
+ switch port
+ case MotorBitfield.MotorA+MotorBitfield.MotorB
+ portStr = 'AB';
+ case MotorBitfield.MotorA+MotorBitfield.MotorC
+ portStr = 'AC';
+ case MotorBitfield.MotorA+MotorBitfield.MotorD
+ portStr = 'AD';
+ case MotorBitfield.MotorB+MotorBitfield.MotorC
+ portStr = 'BC';
+ case MotorBitfield.MotorB+MotorBitfield.MotorD
+ portStr = 'BD';
+ case MotorBitfield.MotorC+MotorBitfield.MotorD
+ portStr = 'CD';
end
- else
- error(['port2str: First argument has to be either ''Sensor'', ',...
- '''Motor'' or ''SyncMotor''']);
end
end
\ No newline at end of file
diff --git a/source/str2PortParam.m b/source/str2PortParam.m
index 75fdb6d..0f2a139 100644
--- a/source/str2PortParam.m
+++ b/source/str2PortParam.m
@@ -34,109 +34,109 @@ function varargout = str2PortParam(device, port)
if strcmpi(device, 'Motor')
if strcmpi(port, 'A')
- varargout{1} = uint8(MotorBitfield.MotorA);
- varargout{2} = uint8(MotorPort.MotorA);
- varargout{3} = uint8(MotorInput.MotorA);
+ varargout{1} = MotorBitfield.MotorA;
+ varargout{2} = MotorPort.MotorA;
+ varargout{3} = MotorInput.MotorA;
elseif strcmpi(port, 'B')
- varargout{1} = uint8(MotorBitfield.MotorB);
- varargout{2} = uint8(MotorPort.MotorB);
- varargout{3} = uint8(MotorInput.MotorB);
+ varargout{1} = MotorBitfield.MotorB;
+ varargout{2} = MotorPort.MotorB;
+ varargout{3} = MotorInput.MotorB;
elseif strcmpi(port, 'C')
- varargout{1} = uint8(MotorBitfield.MotorC);
- varargout{2} = uint8(MotorPort.MotorC);
- varargout{3} = uint8(MotorInput.MotorC);
+ varargout{1} = MotorBitfield.MotorC;
+ varargout{2} = MotorPort.MotorC;
+ varargout{3} = MotorInput.MotorC;
elseif strcmpi(port, 'D')
- varargout{1} = uint8(MotorBitfield.MotorD);
- varargout{2} = uint8(MotorPort.MotorD);
- varargout{3} = uint8(MotorInput.MotorD);
+ varargout{1} = MotorBitfield.MotorD;
+ varargout{2} = MotorPort.MotorD;
+ varargout{3} = MotorInput.MotorD;
else
error('str2PortParam: Given port is not a valid motor port.');
end
elseif strcmpi(device, 'Sensor')
if strcmpi(port, '1')
- varargout{1} = uint8(SensorPort.Sensor1);
+ varargout{1} = SensorPort.Sensor1;
elseif strcmpi(port, '2')
- varargout{1} = uint8(SensorPort.Sensor2);
+ varargout{1} = SensorPort.Sensor2;
elseif strcmpi(port, '3')
- varargout{1} = uint8(SensorPort.Sensor3);
+ varargout{1} = SensorPort.Sensor3;
elseif strcmpi(port, '4')
- varargout{1} = uint8(SensorPort.Sensor4);
+ varargout{1} = SensorPort.Sensor4;
else
error('str2PortParam: Given parameter not a valid sensor port.');
end
elseif strcmpi(device, 'SyncMotor')
if strcmpi(port,'AB')
varargout{1} = MotorBitfield.MotorA+MotorBitfield.MotorB;
- varargout{2} = uint8(MotorPort.MotorA);
- varargout{3} = uint8(MotorInput.MotorA);
- varargout{4} = uint8(MotorPort.MotorB);
- varargout{5} = uint8(MotorInput.MotorB);
+ varargout{2} = MotorPort.MotorA;
+ varargout{3} = MotorInput.MotorA;
+ varargout{4} = MotorPort.MotorB;
+ varargout{5} = MotorInput.MotorB;
elseif strcmpi(port,'AC')
varargout{1} = MotorBitfield.MotorA+MotorBitfield.MotorC;
- varargout{2} = uint8(MotorPort.MotorA);
- varargout{3} = uint8(MotorInput.MotorA);
- varargout{4} = uint8(MotorPort.MotorC);
- varargout{5} = uint8(MotorInput.MotorC);
+ varargout{2} = MotorPort.MotorA;
+ varargout{3} = MotorInput.MotorA;
+ varargout{4} = MotorPort.MotorC;
+ varargout{5} = MotorInput.MotorC;
elseif strcmpi(port,'AD')
varargout{1} = MotorBitfield.MotorA+MotorBitfield.MotorD;
- varargout{2} = uint8(MotorPort.MotorA);
- varargout{3} = uint8(MotorInput.MotorA);
- varargout{4} = uint8(MotorPort.MotorD);
- varargout{5} = uint8(MotorInput.MotorD);
+ varargout{2} = MotorPort.MotorA;
+ varargout{3} = MotorInput.MotorA;
+ varargout{4} = MotorPort.MotorD;
+ varargout{5} = MotorInput.MotorD;
elseif strcmpi(port,'BA')
varargout{1} = MotorBitfield.MotorB+MotorBitfield.MotorA;
- varargout{2} = uint8(MotorPort.MotorB);
- varargout{3} = uint8(MotorInput.MotorB);
- varargout{4} = uint8(MotorPort.MotorA);
- varargout{5} = uint8(MotorInput.MotorA);
+ varargout{2} = MotorPort.MotorB;
+ varargout{3} = MotorInput.MotorB;
+ varargout{4} = MotorPort.MotorA;
+ varargout{5} = MotorInput.MotorA;
elseif strcmpi(port,'BC')
varargout{1} = MotorBitfield.MotorB+MotorBitfield.MotorC;
- varargout{2} = uint8(MotorPort.MotorB);
- varargout{3} = uint8(MotorInput.MotorB);
- varargout{4} = uint8(MotorPort.MotorC);
- varargout{5} = uint8(MotorInput.MotorC);
+ varargout{2} = MotorPort.MotorB;
+ varargout{3} = MotorInput.MotorB;
+ varargout{4} = MotorPort.MotorC;
+ varargout{5} = MotorInput.MotorC;
elseif strcmpi(port,'BD')
varargout{1} = MotorBitfield.MotorB+MotorBitfield.MotorD;
- varargout{2} = uint8(MotorPort.MotorB);
- varargout{3} = uint8(MotorInput.MotorB);
- varargout{4} = uint8(MotorPort.MotorD);
- varargout{5} = uint8(MotorInput.MotorD);
+ varargout{2} = MotorPort.MotorB;
+ varargout{3} = MotorInput.MotorB;
+ varargout{4} = MotorPort.MotorD;
+ varargout{5} = MotorInput.MotorD;
elseif strcmpi(port,'CA')
varargout{1} = MotorBitfield.MotorC+MotorBitfield.MotorA;
- varargout{2} = uint8(MotorPort.MotorC);
- varargout{3} = uint8(MotorInput.MotorC);
- varargout{4} = uint8(MotorPort.MotorA);
- varargout{5} = uint8(MotorInput.MotorA);
+ varargout{2} = MotorPort.MotorC;
+ varargout{3} = MotorInput.MotorC;
+ varargout{4} = MotorPort.MotorA;
+ varargout{5} = MotorInput.MotorA;
elseif strcmpi(port,'CB')
varargout{1} = MotorBitfield.MotorC+MotorBitfield.MotorB;
- varargout{2} = uint8(MotorPort.MotorC);
- varargout{3} = uint8(MotorInput.MotorC);
- varargout{4} = uint8(MotorPort.MotorB);
- varargout{5} = uint8(MotorInput.MotorB);
+ varargout{2} = MotorPort.MotorC;
+ varargout{3} = MotorInput.MotorC;
+ varargout{4} = MotorPort.MotorB;
+ varargout{5} = MotorInput.MotorB;
elseif strcmpi(port,'CD')
varargout{1} = MotorBitfield.MotorC+MotorBitfield.MotorD;
- varargout{2} = uint8(MotorPort.MotorC);
- varargout{3} = uint8(MotorInput.MotorC);
- varargout{4} = uint8(MotorPort.MotorD);
- varargout{5} = uint8(MotorInput.MotorD);
+ varargout{2} = MotorPort.MotorC;
+ varargout{3} = MotorInput.MotorC;
+ varargout{4} = MotorPort.MotorD;
+ varargout{5} = MotorInput.MotorD;
elseif strcmpi(port,'DA')
varargout{1} = MotorBitfield.MotorD+MotorBitfield.MotorA;
- varargout{2} = uint8(MotorPort.MotorD);
- varargout{3} = uint8(MotorInput.MotorD);
- varargout{4} = uint8(MotorPort.MotorA);
- varargout{5} = uint8(MotorInput.MotorA);
+ varargout{2} = MotorPort.MotorD;
+ varargout{3} = MotorInput.MotorD;
+ varargout{4} = MotorPort.MotorA;
+ varargout{5} = MotorInput.MotorA;
elseif strcmpi(port,'DB')
varargout{1} = MotorBitfield.MotorD+MotorBitfield.MotorB;
- varargout{2} = uint8(MotorPort.MotorD);
- varargout{3} = uint8(MotorInput.MotorD);
- varargout{4} = uint8(MotorPort.MotorB);
- varargout{5} = uint8(MotorInput.MotorB);
+ varargout{2} = MotorPort.MotorD;
+ varargout{3} = MotorInput.MotorD;
+ varargout{4} = MotorPort.MotorB;
+ varargout{5} = MotorInput.MotorB;
elseif strcmpi(port,'DC')
varargout{1} = MotorBitfield.MotorD+MotorBitfield.MotorC;
- varargout{2} = uint8(MotorPort.MotorD);
- varargout{3} = uint8(MotorInput.MotorD);
- varargout{4} = uint8(MotorPort.MotorC);
- varargout{5} = uint8(MotorInput.MotorC);
+ varargout{2} = MotorPort.MotorD;
+ varargout{3} = MotorInput.MotorD;
+ varargout{4} = MotorPort.MotorC;
+ varargout{5} = MotorInput.MotorC;
else
error('str2PortParam: Given port is not a valid sync motor port.');
end
diff --git a/source/str2bool.m b/source/str2bool.m
index 0b88252..cc65622 100644
--- a/source/str2bool.m
+++ b/source/str2bool.m
@@ -3,15 +3,12 @@ function bool = str2bool(inp)
bool = 0;
if ischar(inp)
- if strcmpi(inp, 'on') || strcmpi(inp, 'true')
+ if strcmpi(inp, 'on')
bool = 1;
- elseif ~strcmpi(inp, 'off') && ~strcmpi(inp, 'false')
+ elseif ~strcmpi(inp, 'off')
error('str2bool: Given parameter is not a valid string.');
end
- elseif isnumeric(inp)
- % warning('str2bool: Given parameter already is a numeric. Returning...');
- if bool==0 || bool==1
- bool = inp;
- end
+ elseif isnumeric(inp) || islogical(inp)
+ bool = inp;
end
end
--
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