Add test scripts for motor bug testing

motorBugScripts/motorProblemStart.m

+function motorProblemStart(brick)
+% Call this multiple times when brick is connected to USB - at some point,
+% some of the movements will fail.
+%
+% brick (EV3): EV3-object connected to physical EV3
+
+
+motor = brick.motorA;
+motor.setProperties('power',30,'limitMode', 'Tacho', 'limitValue', 1000, 'brakeMode', 'Coast')
+
+figure; hold all;
+for power=30:20:70
+    % Set motor power and reset tachocount
+    motor.power = power;
+    motor.resetTachoCount();
+    
+    % Start motor
+    % BUG: The motor doesn't start sometimes when the data throughput
+    %      is too high.
+    motor.start;
+    
+    % Save tachocount values
+    tic
+    t = toc;
+    tVec = []; tachoVec = [];
+    while t < 6
+       t = toc;
+       tVec = [tVec, t]; %#ok<AGROW>
+       tachoVec = [tachoVec, motor.tachoCount]; %#ok<AGROW>
+    end
+    
+    % Wait until motor is not busy anymore
+    motor.waitFor();
+    
+    % Plot tachocount values
+    plot(tVec,tachoVec); drawnow;
+end
+
+end
+

motorBugScripts/motorProblemStartLowLevel.m

+% Works like motorProblemStartScript/motorProblemStart, but only using 
+% low-level functionality. There is no 'hidden' communication here;
+% everytime a method of CommunicationInterface is called, a packet with the
+% corresponding command is sent.
+%
+% Requires:
+%   * Brick connected via USB
+%   * Motor at port A
+
+clear all;
+
+b = CommunicationInterface('usb');
+b.pauseAfterSend = 0; % Set this to ~0.005 (= 5ms) and the bug should not occur anymore
+b.debug = false; % Set this to true to get all packets sent and received printed to the console
+
+for i=1:10
+    figure; hold all;
+    for power=30:20:70
+        % Reset tachocount
+        b.outputClrCount(0, MotorBitfield.MotorA);
+        
+        % Start motor
+        % BUG: The motor doesn't start sometimes when the data throughput
+        %      is too high.
+        b.outputStepPower(0, MotorBitfield.MotorA, power, 0, 1000, 0, BrakeMode.Coast);
+        
+        % Save tachocount values
+        tic
+        t = toc;
+        tVec = []; tachoVec = [];
+        while t < 6
+           t = toc;
+           tVec = [tVec, t]; %#ok<AGROW>
+           tachoVec = [tachoVec, b.outputGetCount(0, MotorPort.MotorA)]; %#ok<AGROW>
+        end
+        
+        % Wait until motor is not busy anymore
+        while(b.outputTest(0, MotorBitfield.MotorA))
+        end
+        
+        % Plot tachocount values
+        plot(tVec,tachoVec); drawnow;
+    end
+end
+b.delete();
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motorBugScripts/motorProblemStartScript.m

+% This function requires:
+%   * Brick connected via USB
+%   * Motor at port A
+
+b = EV3();
+b.connect('usb');
+b.pauseAfterSend = 0; % Set this to ~0.005 (= 5ms) and the bug should not occur anymore
+b.debug = 0; % Set this to 2 to get all packets sent and received printed to the console
+
+for i=1:10
+    motorProblemStart(b); 
+end
+
+b.disconnect();
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motorBugScripts/testUSBSpeed.m

+function testUSBSpeed(sendOnly, secondsWaitedAfterSend)
+% Evaluates the data throughput via USB (in terms of packets/second).
+% If sendOnly is true, packets are dispatched without waiting for a reply 
+% (outputStop-opCode is used).
+% If sendOnly is false, packets are dispatched and a reply is received 
+% (inputReadSI-opCode is used).
+%
+% Arguments:
+%   sendOnly (boolean)
+%
+% This function requires:
+%   * Brick connected via USB
+%   * Motor at port A
+
+
+    if ~islogical(sendOnly)
+        error('sendOnly has to be a boolean (true | false)!'); 
+    end
+
+    b = CommunicationInterface('usb');
+    if secondsWaitedAfterSend > 0
+        b.pauseAfterSend = secondsWaitedAfterSend; 
+    end
+    
+    t_measure = 10.0;
+    
+    p = 0;
+    tic;
+    while toc < t_measure
+        if sendOnly
+            b.outputStop(0, 1, 0);
+        else
+            b.inputReadSI(0, 16, 2);
+        end
+        p = p+1;
+    end
+        
+
+    fprintf('Packets per second: %.2f\n', p / t_measure);
+
+    clear all;
+end
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