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Commit ffe5ab48 authored by Tim Stadtmann's avatar Tim Stadtmann
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Documentation updates and general cleanup

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source/EV3.m
+ 1
− 1
View file @ ffe5ab48
......@@ -310,7 +310,7 @@ classdef EV3 < MaskedHandle
% Example:
% b = EV3(); |br|
% b.connect('bt', 'serPort', '/dev/rfcomm0'); |br|
% b.playTone(50, 5000, 1000); % Plays tone with 50% volume and 5000Hz for 1
% b.playTone(40, 5000, 1000); % Plays tone with 40% volume and 5000Hz for 1
% second. |br|
%
......
......
source/Motor.m
+ 40
− 39
View file @ ffe5ab48
......@@ -9,6 +9,8 @@ classdef Motor < MaskedHandle & dynamicprops
% * You don't need to create instances of this class. The EV3-class automatically creates
% instances for each motor port, and you can work with them via the EV3-object.
% * The Motor-class represents motor ports, not individual motors!
% * If you start a motor with power=0, the internal state will still be set to
% 'isRunning'
%
% Attributes:
% power (numeric in [-100, 100]): Power level of motor in percent. *[WRITABLE]*
......@@ -32,7 +34,7 @@ classdef Motor < MaskedHandle & dynamicprops
% Depending on limitMode, the input is interpreted either in degrees or
% milliseconds. *[WRITABLE]*
% limitMode ('Tacho'|'Time'): Mode for motor limit. *[WRITABLE]*
% brakeMode ('Brake'|'Coast'): Mode for braking. If 'Coast', the motor will (at
% brakeMode ('Brake'|'Coast'): Action done when stopping. If 'Coast', the motor will (at
% tacholimit, if ~=0) coast to a stop. If 'Brake', the motor will stop immediately
% (at tacholimit, if ~=0) and hold the brake. *[WRITABLE]*
% debug (bool): Debug turned on or off. In debug mode, everytime a command is passed to
......@@ -49,31 +51,31 @@ classdef Motor < MaskedHandle & dynamicprops
% power (numeric in [-100, 100]): Power level of motor in percent. [WRITABLE]
power;
% speedRegulation (bool): Speed regulation turned on or off. When turned on, motor will
% try to 'hold' its speed at given power level, whatever the load. In this mode, the
% highest possible speed depends on the load and mostly goes up to around 70-80 (at
% this point, the Brick internally input 100% power). When turned off, motor will
% constantly input the same power into the motor. The resulting speed will be
% somewhat lower, depending on the load. [WRITABLE]
% speedRegulation (bool): Speed regulation turned on or off. [WRITABLE]
% When turned on, motor will try to 'hold' its speed at given power level, whatever
% the load. In this mode, the highest possible speed depends on the load and mostly
% goes up to around 70-80 (at this point, the Brick internally input 100% power).
% When turned off, motor will constantly input the same power into the motor. The
% resulting speed will be somewhat lower, depending on the load.
speedRegulation;
% smoothStart (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time
% indicating how far/long the motor should smoothly start. Depending on limitMode,
% the input is interpreted either in degrees or milliseconds. The first
% {smoothStart}-milliseconds/degrees of limitValue the motor will slowly accelerate
% until reaching its defined speed. [WRITABLE]
% smoothStart (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time indicating how far/long the motor should smoothly start. [WRITABLE]
% Depending on limitMode, the input is interpreted either in degrees or
% milliseconds. The first {smoothStart}-milliseconds/degrees of limitValue the
% motor will slowly accelerate until reaching its defined speed.
% See also MOTOR.LIMITVALUE, MOTOR.LIMITMODE
smoothStart;
% smoothStop (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time
% indicating how far/long the motor should smoothly stop. Depending on limitMode, the
% input is interpreted either in degrees or milliseconds. The last
% [smoothStop]-milliseconds/degrees of limitValue the motor will slowly slow down
% until it has stopped. [WRITABLE]
% smoothStop (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time indicating how far/long the motor should smoothly stop. [WRITABLE]
% Depending on limitMode, the input is interpreted either in degrees or
% milliseconds. The last [smoothStop]-milliseconds/degrees of limitValue the motor
% will slowly slow down until it has stopped.
% See also MOTOR.LIMITVALUE, MOTOR.LIMITMODE
smoothStop;
% limitValue (numeric>=0): Degrees/Time indicating how far/long the motor should run.
% limitValue (numeric>=0): Degrees/Time indicating how far/long the motor should run. [WRITABLE]
% Depending on limitMode, the input is interpreted either in degrees or
% milliseconds. [WRITABLE]
% milliseconds.
% See also MOTOR.LIMITMODE
limitValue;
......@@ -81,14 +83,14 @@ classdef Motor < MaskedHandle & dynamicprops
% See also MOTOR.SMOOTHSTART, MOTOR.SMOOTHSTOP, MOTOR.LIMITMODE
limitMode;
% brakeMode ('Brake'|'Coast'): Mode for braking. If 'Coast', the motor will (at
% tacholimit, if ~=0) coast to a stop. If 'Brake', the motor will stop immediately
% (at tacholimit, if ~=0) and hold the brake. [WRITABLE]
% brakeMode ('Brake'|'Coast'): Action done when stopping. [WRITABLE]
% If 'Coast', the motor will (at tacholimit, if ~=0) coast to a stop. If 'Brake',
% the motor will stop immediately (at tacholimit, if ~=0) and hold the brake.
brakeMode;
% 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]
% debug (bool): Debug turned on or off. [WRITABLE]
% 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.
debug;
end
......@@ -99,8 +101,9 @@ classdef Motor < MaskedHandle & dynamicprops
% tachoCount (numeric): Current tacho count. [READ-ONLY]
tachoCount;
% currentSpeed (numeric): Current speed of motor. If speedRegulation=on this should
% equal power, otherwise it will probably be lower than that. [READ-ONLY]
% currentSpeed (numeric): Current speed of motor. [READ-ONLY]
% If speedRegulation=on this should equal power, otherwise it will probably be
% lower than that.
% See also MOTOR.SPEEDREGULATION
currentSpeed;
......@@ -196,7 +199,7 @@ classdef Motor < MaskedHandle & dynamicprops
% a tacholimit for some time using Coast, then stop using Coast, and then try
% to run the with a tacholimit, it will stop sooner or later than expected,
% or may not even start at all.
% * After calling one of the functions to control the motor with some kind of
% * (OLD)After calling one of the functions to control the motor with some kind of
% limit (which is done if limit~=0), the physical brick's power/speed value for
% starting without a limit (i.e. if limit==0) is reset to zero. So if you want
% to control the motor without a limit after doing so with a limit, you would
......@@ -342,11 +345,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::stop: No physical motor connected to Port %s',...
port2str('Motor', motor.port));
elseif motor.isSynced && motor.isRunning
if motor.isMaster
motor.syncedStop();
elseif motor.isSlave
motor.('master').syncedStop();
end
return;
% error(['Motor::stop: Motor is running synchronized with another motor. ' ,...
% 'Use ''syncedStop'' on the ''master''-motor.']);
......@@ -400,7 +399,6 @@ classdef Motor < MaskedHandle & dynamicprops
% % Do stuff
% m.syncedStop(); |br|
%
turnRatio = 0;
% Check parameters
......@@ -506,7 +504,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::syncedStop: Motor has not been started synchronized with another.');
else
% Retrieve synced motor from cache
if length(findprop(motor, 'slave'))==1
if motor.isMaster
syncMotor = motor.slave;
delete(motor.findprop('slave'));
delete(syncMotor.findprop('master'));
......@@ -615,6 +613,9 @@ classdef Motor < MaskedHandle & dynamicprops
%
% Notes:
% * A better name would probably be resetPosition...
% * Gets called automatically when starting the motor and the internal tacho
% count is > 0
%
%
% See also MOTOR.RESETTACHOCOUNT
......@@ -945,7 +946,7 @@ classdef Motor < MaskedHandle & dynamicprops
busyFlag = 0;
end
assert(~(motor.state.startedNotBusy && busyFlag));
% assert(~(motor.state.startedNotBusy && busyFlag));
running = motor.state.startedNotBusy || busyFlag;
end
......
......
source/Sensor.m
+ 120
− 35
View file @ ffe5ab48
......@@ -18,19 +18,59 @@ classdef Sensor < MaskedHandle
% sensor type): *[WRITABLE]*
%
% * Touch-Sensor:
% * DeviceMode.Touch.Pushed [Default]
% * DeviceMode.Touch.Pushed *[Default]*
% * DeviceMode.Touch.Bumps
% * Ultrasonic-Sensor:
% * DeviceMode.UltraSonic.DistCM [Default]
% * DeviceMode.UltraSonic.DistCM *[Default]*
% * DeviceMode.UltraSonic.DistIn
% * DeviceMode.UltraSonic.Listen
% * Color-Sensor:
% * DeviceMode.Color.Reflect [Default]
% * DeviceMode.Color.Reflect *[Default]*
% * DeviceMode.Color.Ambient
% * DeviceMode.Color.Col
% * Gyro-Sensor:
% * DeviceMode.Gyro.Angular [Default]
% * DeviceMode.Gyro.Angular *[Default]*
% * DeviceMode.Gyro.Rate
% * Infrared-Sensor:
% * DeviceMode.InfraRed.Prox *[Default]*
% * DeviceMode.InfraRed.Seek
% * DeviceMode.InfraRed.Remote
% * NXTColor-Sensor:
% * DeviceMode.NXTColor.Reflect *[Default]*
% * DeviceMode.NXTColor.Ambient
% * DeviceMode.NXTColor.Color
% * DeviceMode.NXTColor.Green
% * DeviceMode.NXTColor.Blue
% * DeviceMode.NXTColor.Raw
% * NXTLight-Sensor:
% * DeviceMode.NXTLight.Reflect *[Default]*
% * DeviceMode.NXTLight.Ambient
% * NXTSound-Sensor:
% * DeviceMode.NXTSound.DB *[Default]*
% * DeviceMode.NXTSound.DBA
% * NXTTemperature-Sensor
% * DeviceMode.NXTTemperature.C *[Default]*
% * DeviceMode.NXTTemperature.F
% * NXTTouch-Sensor:
% * DeviceMode.NXTTouch.Pushed *[Default]*
% * DeviceMode.NXTTouch.Bumps
% * NXTUltraSonic-Sensor:
% * DeviceMode.NXTUltraSonic.CM *[Default]*
% * DeviceMode.NXTUltraSonic.IN
% * HTAccelerometer-Sensor:
% * DeviceMode.HTAccelerometer.Acceleration *[Default]*
% * DeviceMode.HTAccelerometer.AccelerationAllAxes
% * HTCompass-Sensor:
% * DeviceMode.HTCompass.Degrees *[Default]*
% * HTColor-Sensor:
% * DeviceMode.HTColor.Col *[Default]*
% * DeviceMode.HTColor.Red
% * DeviceMode.HTColor.Green
% * DeviceMode.HTColor.Blue
% * DeviceMode.HTColor.White
% * DeviceMode.HTColor.Raw
% * DeviceMode.HTColor.Nr,
% * DeviceMode.HTColor.All
% 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]*
......@@ -51,6 +91,9 @@ classdef Sensor < MaskedHandle
% * DeviceType.UltraSonic
% * DeviceType.Gyro
% * DeviceType.InfraRed
% * DeviceType.HTColor
% * DeviceType.HTCompass
% * DeviceType.HTAccelerometer
% * DeviceType.Unknown
% * DeviceType.None
% * DeviceType.Error
......@@ -76,7 +119,46 @@ classdef Sensor < MaskedHandle
% * Gyro-Sensor:
% * DeviceMode.Gyro.Angular [Default]
% * DeviceMode.Gyro.Rate
%
% * Infrared-Sensor:
% * DeviceMode.InfraRed.Prox [Default]
% * DeviceMode.InfraRed.Seek
% * DeviceMode.InfraRed.Remote
% * NXTColor-Sensor:
% * DeviceMode.NXTColor.Reflect [Default]
% * DeviceMode.NXTColor.Ambient
% * DeviceMode.NXTColor.Color
% * DeviceMode.NXTColor.Green
% * DeviceMode.NXTColor.Blue
% * DeviceMode.NXTColor.Raw
% * NXTLight-Sensor:
% * DeviceMode.NXTLight.Reflect [Default]
% * DeviceMode.NXTLigth.Ambient
% * NXTSound-Sensor:
% * DeviceMode.NXTSound.DB [Default]
% * DeviceMode.NXTSound.DBA
% * NXTTemperature-Sensor
% * DeviceMode.NXTTemperature.C [Default]
% * DeviceMode.NXTTemperature.F
% * NXTTouch-Sensor:
% * DeviceMode.NXTTouch.Pushed [Default]
% * DeviceMode.NXTTouch.Bumps
% * NXTUltraSonic-Sensor:
% * DeviceMode.NXTUltraSonic.CM [Default]
% * DeviceMode.NXTUltraSonic.IN
% * HTAccelerometer-Sensor:
% * DeviceMode.HTAccelerometer.Acceleration [Default]
% * DeviceMode.HTAccelerometer.AccelerationAllAxes
% * HTCompass-Sensor:
% * DeviceMode.HTCompass.Degrees [Default]
% * HTColor-Sensor:
% * DeviceMode.HTColor.Col [Default]
% * DeviceMode.HTColor.Red
% * DeviceMode.HTColor.Green
% * DeviceMode.HTColor.Blue
% * DeviceMode.HTColor.White
% * DeviceMode.HTColor.Raw
% * DeviceMode.HTColor.Nr,
% * DeviceMode.HTColor.All
% See also SENSOR.VALUE, SENSOR.TYPE
mode;
......@@ -87,13 +169,13 @@ classdef Sensor < MaskedHandle
end
properties (Dependent) % Parameters to be read directly from physical brick
% value (numeric): Value read from hysical sensor. What the value represents depends on
% sensor.mode. *[READ-ONLY]*
% value (numeric): Value read from physical sensor. [READ-ONLY]
% What the value represents depends on sensor.mode.
% See also SENSOR.MODE
value;
% type (DeviceType): Type of physical sensor connected to the port. Possible types are
% *[READ-ONLY]*:
% type (DeviceType): Type of physical sensor connected to the port. [READ-ONLY]
% Possible types are:
% * DeviceType.NXTTouch
% * DeviceType.NXTLight
% * DeviceType.NXTSound
......@@ -107,6 +189,9 @@ classdef Sensor < MaskedHandle
% * DeviceType.UltraSonic
% * DeviceType.Gyro
% * DeviceType.InfraRed
% * DeviceType.HTColor
% * DeviceType.HTCompass
% * DeviceType.HTAccelerometer
% * DeviceType.Unknown
% * DeviceType.None
% * DeviceType.Error
......
......
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