diff --git a/source/EV3.m b/source/EV3.m
index 0d970ec3d56090fefd05ef2e954c84fbf7c518d9..e371dd66ab9b8d7cec88b2365f0b4fa55dd4a744 100644
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -245,154 +245,42 @@ classdef EV3 < handle
%
% Example
% b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
+ % b.connect('bt', 'serPort', '/dev/rfcomm0');
% % do stuff
% b.disconnect();
%
-% if ~ev3.isConnected
-% error('EV3::connect: No brick connected.');
-% end
-
- % Disconnect motors
- % -> set references to brick object to 0
+ % Disconnect motors and sensors
+ % -> set references to comm handle to 0
ev3.motorA.disconnect();
ev3.motorB.disconnect();
ev3.motorC.disconnect();
ev3.motorD.disconnect();
- % Disconnect sensors
- % -> set references to brick object to 0
ev3.sensor1.disconnect();
ev3.sensor2.disconnect();
ev3.sensor3.disconnect();
ev3.sensor4.disconnect();
- % Delete handle to brick object
- if isBrickValid(ev3.brick) && ev3.brick ~= 0
- ev3.brick.delete();
+ % Delete handle to comm-interface
+ if isCommInterfaceValid(ev3.commInterface) && ev3.commInterface ~= 0
+ ev3.commInterface.delete();
end
- ev3.brick = 0;
+ ev3.commInterface = 0;
- ev3.isConnected = 0;
+ ev3.isConnected = false;
end
- function update(ev3)
- %update Updates all Motors and Sensors to current status of their corresponding ports.
- %
- % Example
- % b = EV3();
- % b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
- % % Connect some new motors and sensors, disconnect some others (in 'real life')
- % b.update();
- % % Now, virtual brick knows about all new devices and commands can be sent to
- % % them
- %
+ %% Device functions
+ function stopAllMotors(ev3)
+ %stopAllMotors Sends a stop-command to all motor-ports
if ~ev3.isConnected
- error('EV3::update: No brick connected.');
- end
-
- ev3.motorA.update();
- ev3.motorB.update();
- ev3.motorC.update();
- ev3.motorD.update();
-
- ev3.sensor1.update();
- ev3.sensor2.update();
- ev3.sensor3.update();
- ev3.sensor4.update();
- end
-
- %% System functions
- function syncMotor = coupleMotors(ev3, varargin)
- %coupleMotors Creates and connects a SyncMotor-object using two chosen Motor-objects.
- %
- % Notes
- % * Right now only possible if connection to Brick has been established.
- %
- % Arguments
- % * port ('AB','BA', ...): Motors to 'couple'
- % * 'useMotorParams', 0/1/'on'/'off'/'true'/'false': Use first motor's or set own params
- % * varargin: other Properties for Motor/SyncMotor (see
- % (Sync-)Motor::setProperties(motor, varargin))
- %
- % Example
- % b = EV3(); b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0');
- % sync = b.coupleMotors('AB'); % Couple motors A and B using parameters of
- % % Motor-object motorA.
- % sync2 = b.coupleMotors('CD', 'useMotorParams', 0, 'power', 50, 'debug', 'on');
- % % Couple motors C and D with new object being
- % % initialized with default resp. given parameters.
- %
-
- if ~ev3.isConnected
- error('EV3::update: No brick connected.');
- end
-
- % Check input arguments
- p = inputParser();
- p.KeepUnmatched = 1;
- p.addRequired('port', @(x) isPortValid('SyncMotor', x));
- p.addOptional('useMotorParams', 1, @(x) isBool(x));
- p.parse(varargin{:});
-
- useMotorParams = str2bool(p.Results.useMotorParams);
- if strcmpi(p.Results.port, 'AB')
- motor1 = ev3.motorA;
- motor2 = ev3.motorB;
- elseif strcmpi(p.Results.port, 'BA')
- motor1 = ev3.motorB;
- motor2 = ev3.motorA;
- elseif strcmpi(p.Results.port, 'AC')
- motor1 = ev3.motorA;
- motor2 = ev3.motorC;
- elseif strcmpi(p.Results.port, 'CA')
- motor1 = ev3.motorC;
- motor2 = ev3.motorA;
- elseif strcmpi(p.Results.port, 'AD')
- motor1 = ev3.motorA;
- motor2 = ev3.motorD;
- elseif strcmpi(p.Results.port, 'DA')
- motor1 = ev3.motorD;
- motor2 = ev3.motorA;
- elseif strcmpi(p.Results.port, 'BC')
- motor1 = ev3.motorB;
- motor2 = ev3.motorC;
- elseif strcmpi(p.Results.port, 'CB')
- motor1 = ev3.motorC;
- motor2 = ev3.motorB;
- elseif strcmpi(p.Results.port, 'BD')
- motor1 = ev3.motorB;
- motor2 = ev3.motorD;
- elseif strcmpi(p.Results.port, 'DB')
- motor1 = ev3.motorD;
- motor2 = ev3.motorB;
- elseif strcmpi(p.Results.port, 'CD')
- motor1 = ev3.motorC;
- motor2 = ev3.motorD;
- elseif strcmpi(p.Results.port, 'DC')
- motor1 = ev3.motorD;
- motor2 = ev3.motorC;
- end
-
- % Create SyncMotor-object with parameters of motor1 and given parameters
- if useMotorParams
- syncMotor = SyncMotor(motor1, motor2, p.Results.port, ...
- 'Power', motor1.power, ...
- 'SpeedRegulation', motor1.speedRegulation, ...
- 'BrakeMode', motor1.brakeMode, ...
- 'LimitMode', motor1.limitMode, ...
- 'LimitValue', motor1.limitValue, ...
- 'SmoothStart', motor1.smoothStart, ...
- 'SmoothStop', motor1.smoothStop, ...
- 'Debug', motor1.debug);
- else
- syncMotor = SyncMotor(motor1, motor2, p.Results.port, varargin{4:end});
+ stopAllMotors(['EV3::beep: Brick-Object not connected physical brick. ',...
+ 'You have to call ev3.connect(...) first!']);
end
- % Connect SyncMotor-object to brick handle.
- syncMotor.connect(ev3.brick);
+ ev3.commInterface.outputStopAll();
end
%% Sound functions