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Commit bd4f3929 authored by Tim Stadtmann's avatar Tim Stadtmann
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Implement stopAllMotors() in EV3 

Also, delete syncMotor-remains
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source/EV3.m
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...@@ -245,154 +245,42 @@ classdef EV3 < handle ...@@ -245,154 +245,42 @@ classdef EV3 < handle
% %
% Example % Example
% b = EV3(); % b = EV3();
% b.connect('ioType', 'bt', 'serPort', '/dev/rfcomm0'); % b.connect('bt', 'serPort', '/dev/rfcomm0');
% % do stuff % % do stuff
% b.disconnect(); % b.disconnect();
% %
% if ~ev3.isConnected % Disconnect motors and sensors
% error('EV3::connect: No brick connected.'); % -> set references to comm handle to 0
% end
% Disconnect motors
% -> set references to brick object to 0
ev3.motorA.disconnect(); ev3.motorA.disconnect();
ev3.motorB.disconnect(); ev3.motorB.disconnect();
ev3.motorC.disconnect(); ev3.motorC.disconnect();
ev3.motorD.disconnect(); ev3.motorD.disconnect();
% Disconnect sensors
% -> set references to brick object to 0
ev3.sensor1.disconnect(); ev3.sensor1.disconnect();
ev3.sensor2.disconnect(); ev3.sensor2.disconnect();
ev3.sensor3.disconnect(); ev3.sensor3.disconnect();
ev3.sensor4.disconnect(); ev3.sensor4.disconnect();
% Delete handle to brick object % Delete handle to comm-interface
if isBrickValid(ev3.brick) && ev3.brick ~= 0 if isCommInterfaceValid(ev3.commInterface) && ev3.commInterface ~= 0
ev3.brick.delete(); ev3.commInterface.delete();
end end
ev3.brick = 0; ev3.commInterface = 0;
ev3.isConnected = 0; ev3.isConnected = false;
end end
function update(ev3) %% Device functions
%update Updates all Motors and Sensors to current status of their corresponding ports. function stopAllMotors(ev3)
% %stopAllMotors Sends a stop-command to all motor-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
%
if ~ev3.isConnected if ~ev3.isConnected
error('EV3::update: No brick connected.'); stopAllMotors(['EV3::beep: Brick-Object not connected physical brick. ',...
end 'You have to call ev3.connect(...) first!']);
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});
end end
% Connect SyncMotor-object to brick handle. ev3.commInterface.outputStopAll();
syncMotor.connect(ev3.brick);
end end
%% Sound functions %% Sound functions
......
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