From c17347a1dd961a416442b1be3e3477c0e2e4daae Mon Sep 17 00:00:00 2001
From: Tim Stadtmann <tim.stadtmann@rwth-aachen.de>
Date: Mon, 17 Oct 2016 13:35:59 +0200
Subject: [PATCH] isRunning is now also true if motor runs w/o limit
The implementation is based on a new flag, 'startedNotBusy', which
is set to true if single motor is started w/o limit.
---
source/Motor.m | 13 ++++++++++++-
1 file changed, 12 insertions(+), 1 deletion(-)
diff --git a/source/Motor.m b/source/Motor.m
index 5e24314..c960994 100755
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -98,6 +98,7 @@ classdef Motor < MaskedHandle & dynamicprops
connectedToBrick = false; % Connection to physical Brick?
init = true; % Indicates 'init-phase' (True as long as constructor is running)
+ startedNotBusy = false; % Set to true if motor started w/o tacholimit and unsynced
sendPowerOnSet = false; % If true, OUTPUT_POWER is sent when setting power
% Bitfield representing which opCodes should be sent on Motor.start()
@@ -201,6 +202,7 @@ classdef Motor < MaskedHandle & dynamicprops
if motor.debug
fprintf('(DEBUG) Motor::start: Called outputStart on Port %s\n', port2str('Motor', motor.port));
end
+ motor.startedNotBusy = true;
else
limit = motor.limitValue - (motor.smoothStart + motor.smoothStop);
if limit < 0
@@ -270,6 +272,8 @@ classdef Motor < MaskedHandle & dynamicprops
if motor.debug
fprintf('(DEBUG) Motor::stop: Called outputStop on Port %s\n', port2str('Motor', motor.port));
end
+
+ motor.startedNotBusy = false;
end
function syncedStart(motor, syncMotor, varargin)
@@ -842,9 +846,15 @@ classdef Motor < MaskedHandle & dynamicprops
function running = get.isRunning(motor)
running = 0;
+
if motor.connectedToBrick
- running = motor.getBusyFlag();
+ busyFlag = motor.getBusyFlag();
+ else
+ busyFlag = 0;
end
+
+ assert(~(motor.startedNotBusy && busyFlag));
+ running = motor.startedNotBusy || busyFlag;
end
function synced = get.isSynced(motor)
@@ -1053,6 +1063,7 @@ classdef Motor < MaskedHandle & dynamicprops
end
end
+
methods (Access = {?EV3})
function connect(motor,commInterface)
%connect Connects Motor-object to physical brick.
--
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