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Commit bf5fa80a authored by Maximilian Schnabel's avatar Maximilian Schnabel
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adjusted doc formatting

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2 merge requests!7Keep going if mountpoint exists (persistent),!6Docs NXT compatibility
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classdef Sensor < MaskedHandle
% 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.
% Information given in this section can be used to configure a sensor's measurements.
% For example the Touch-Sensor is capable of either detecting whether it is being pushed, or count the number of pushes.
% In order to change it's mode and hence it's return values, an EV3 object has to be created and connected beforehand. Assuming the physical sensor has
% been connected to sensor port 1 of the physical brick, the mode change is done as follows:
%
% ::
%
% Example:
% //initialization:
% brick = EV3()
% brick.connect('usb')
%
% //changing mode of sensor:
% brick.sensor1.mode = DeviceMode.Touch.Bumps
%
% The available modes to a given sensor are described in the Attributes section.
%
% The Sensor-class facilitates the communication with sensors. This mainly consists of
% reading the sensor's type and current value in a specified mode.
%
% Notes:
% * You don't need to create instances of this class. The EV3-class automatically creates
......@@ -19,124 +31,99 @@ classdef Sensor < MaskedHandle
%
% * Touch-Sensor:
% * DeviceMode.Touch.Pushed *[Default]*
% *Output: 0: not pushed, 1: pushed
% * Output: 0: not pushed, 1: pushed
% * DeviceMode.Touch.Bumps
% *Output: n: number of times being pushed
% * Output: n: number of times being pushed
% * Ultrasonic-Sensor:
% * DeviceMode.UltraSonic.DistCM *[Default]*
% *Output: distance in cm
% *Note: actively creates ultrasonic sound
% * Output: distance in cm
% * Note: actively creates ultrasonic sound
% * DeviceMode.UltraSonic.DistIn
% *Output: distance in inches
% *Note: actively creates ultrasonic sound
% * 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
% * 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
% * Output: value in range 0% to 100% brightness
% * DeviceMode.Color.Ambient
% *Output: value in range 0% to 100% brightness
% * Output: value in range 0% to 100% brightness
% * DeviceMode.Color.Col
% *Output: none, black, blue, green. yellow, red, white, brown
% * Output: none, black, blue, green. yellow, red, white, brown
% * Gyro-Sensor:
% * DeviceMode.Gyro.Angular *[Default]*
% *Note: value appears to be rising indefinitely, even in resting position
% * Note: value appears to be rising indefinitely, even in resting position
% * DeviceMode.Gyro.Rate
% *Output: rotational speed [degree/s]. Expect small offset in resting position
% * Output: rotational speed [degree/s]. Expect small offset in resting position
% * Infrared-Sensor:
% * DeviceMode.InfraRed.Prox *[Default]*
% * Note: currently not recognized
% * Note: currently not recognized
% * DeviceMode.InfraRed.Seek
% * DeviceMode.InfraRed.Remote
% * NXTColor-Sensor:
% * DeviceMode.NXTColor.Reflect *[Default]*
% *Output: value in range 0% to 100% brightness
% * Output: value in range 0% to 100% brightness
% * DeviceMode.NXTColor.Ambient
% *Output: value in range 0% to 100% brightness
% * 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
% * 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 reflectivity
% * Output: value in range 0% to 100% of green reflectivity
% * DeviceMode.NXTColor.Blue
% *Output: value in range 0% to 100% of blue reflectivity
% * 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
% * 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
% * Output: value in range 0% to 100% brightness
% * DeviceMode.NXTLight.Ambient
% *Output: value in range 0% to 100% brightness
% * Output: value in range 0% to 100% brightness
% * NXTSound-Sensor:
% * DeviceMode.NXTSound.DB *[Default]*
% *Output: value in decibel
% * Output: value in decibel
% * DeviceMode.NXTSound.DBA
% *Output: value in dba weighted according to human hearing
% * Output: value in dba weighted according to human hearing
% * NXTTemperature-Sensor
% * DeviceMode.NXTTemperature.C *[Default]*
% *Output: value in Celsius
% * Output: value in Celsius
% * DeviceMode.NXTTemperature.F
% *Output: value in Fahrenheit
% * Output: value in Fahrenheit
% * NXTTouch-Sensor:
% * DeviceMode.NXTTouch.Pushed *[Default]*
% * Output: 0: not pushed, 1: pushed
% * Output: 0: not pushed, 1: pushed
% * DeviceMode.NXTTouch.Bumps
% * Output: n: number of times pressed and released
% * Output: n: number of times pressed and released
% * NXTUltraSonic-Sensor:
% * DeviceMode.NXTUltraSonic.CM *[Default]*
% * Output: distance in cm
% * Output: distance in cm
% * DeviceMode.NXTUltraSonic.IN
% * Output: distance in inches
% * Output: distance in inches
% * HTAccelerometer-Sensor:
% * DeviceMode.HTAccelerometer.Acceleration *[Default]*
% * DeviceMode.HTAccelerometer.AccelerationAllAxes
% * Note: Not working properly. Returning 1 value instead of 6
% * Note: Not working properly. Returning 1 value instead of 6
% * HTCompass-Sensor:
% * DeviceMode.HTCompass.Degrees *[Default]*
% * Note: 'Error' mode assigned, value still appears to be correct.
% * Output: 0 to 180 degree. 45° being north, 90° east etc
% * Note: 'Error' mode assigned, value still appears to be correct.
% * Output: 0 to 180 degree. 45° being north, 90° east etc
% * 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
% * 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
% * Output: value in range 0 to 255 of red reflectivity
% * DeviceMode.HTColor.Green
% *Output: value in range 0 to 255 of green reflectivity
% * Output: value in range 0 to 255 of green reflectivity
% * DeviceMode.HTColor.Blue
% *Output: value in range 0 to 255 of blue reflectivity
% * Output: value in range 0 to 255 of blue reflectivity
% * DeviceMode.HTColor.White
% *Output: value in range 0 to 255 of white reflectivity
% * Output: value in range 0 to 255 of white reflectivity
% * DeviceMode.HTColor.Raw
% *Note: obsolete, color values available in other modes. Also not working properly. Returning 1 value instead of 3
% * 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
% * 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
% * 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]*
......@@ -163,6 +150,8 @@ classdef Sensor < MaskedHandle
% * DeviceType.Unknown
% * DeviceType.None
% * DeviceType.Error
%
properties % Standard properties to be set by user
% mode (DeviceMode.{Type}): Sensor mode in which the value will be read. By default,
......@@ -355,16 +344,18 @@ classdef Sensor < MaskedHandle
% debug (bool): *[OPTIONAL]*
% mode (DeviceMode.{Type}): *[OPTIONAL]*
%
% Example:
% b = EV3(); |br|
% b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
%
% % use the following line:
% b.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient); |br|
% ::
%
% Example:
% brick = EV3()
% brick.connect('bt', 'serPort', '/dev/rfcomm0');
%
% % use the following line:
% brick.sensor1.setProperties('debug', 'on', 'mode', DeviceMode.Color.Ambient);
%
% % Instead of:
% b.sensor1.debug = 'on'; |br|
% b.sensor1.mode = DeviceMode.Color.Ambient; |br|
% % Instead of:
% brick.sensor1.debug = 'on';
% brick.sensor1.mode = DeviceMode.Color.Ambient;
%
p = inputParser();
......
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