diff --git a/source/EV3.m b/source/EV3.m
index 07e0e39a9c712a5949d22f4ce04305fe30a88d2a..29aeda84acbb2c7d4f03abd06626ad0690fd095f 100755
--- a/source/EV3.m
+++ b/source/EV3.m
@@ -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|
%
diff --git a/source/Motor.m b/source/Motor.m
index 1756ed19285657ccc81cebb96b20c43518a512d8..3d8039f8cd175ce09d1b756c6193169fc13cd42a 100755
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -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;
@@ -146,7 +149,7 @@ classdef Motor < MaskedHandle & dynamicprops
% See also PORTNO
portNo;
- %portInput (PortInput): Internal number of motor port if accessed via input-opCodes
+ % portInput (PortInput): Internal number of motor port if accessed via input-opCodes
% - Port 'A': 16
% - Port 'B': 17
% - Port 'C': 18
@@ -154,7 +157,7 @@ classdef Motor < MaskedHandle & dynamicprops
% See also PORTINPUT
portInput;
- %isSynced (bool): True if motor is running in synced mode
+ % isSynced (bool): True if motor is running in synced mode
isSynced;
% isMaster (bool): True if motor is running in synced mode and has a slave
@@ -166,7 +169,7 @@ classdef Motor < MaskedHandle & dynamicprops
% physicalMotorConnected (bool): True if physical motor is connected to this port
physicalMotorConnected;
- %internalTachoCount (numeric): internal tacho counter used for positioning the motor with a limit
+ % internalTachoCount (numeric): internal tacho counter used for positioning the motor with a limit
internalTachoCount;
end
@@ -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
+ motor.syncedStop();
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
diff --git a/source/Sensor.m b/source/Sensor.m
index bf01571bbafa73e5a0259a623e987890a54333dc..53949fddb39f0050dc12bab1f32fad93790f2fba 100755
--- a/source/Sensor.m
+++ b/source/Sensor.m
@@ -17,20 +17,60 @@ classdef Sensor < MaskedHandle
% mode and the default mode for a Sensor-object are the following (depending on the
% sensor type): *[WRITABLE]*
%
- % * Touch-Sensor:
- % * DeviceMode.Touch.Pushed [Default]
- % * DeviceMode.Touch.Bumps
- % * Ultrasonic-Sensor:
- % * DeviceMode.UltraSonic.DistCM [Default]
- % * DeviceMode.UltraSonic.DistIn
- % * DeviceMode.UltraSonic.Listen
- % * Color-Sensor:
- % * DeviceMode.Color.Reflect [Default]
- % * DeviceMode.Color.Ambient
- % * DeviceMode.Color.Col
- % * Gyro-Sensor:
- % * DeviceMode.Gyro.Angular [Default]
- % * DeviceMode.Gyro.Rate
+ % * Touch-Sensor:
+ % * DeviceMode.Touch.Pushed *[Default]*
+ % * DeviceMode.Touch.Bumps
+ % * Ultrasonic-Sensor:
+ % * DeviceMode.UltraSonic.DistCM *[Default]*
+ % * DeviceMode.UltraSonic.DistIn
+ % * DeviceMode.UltraSonic.Listen
+ % * Color-Sensor:
+ % * DeviceMode.Color.Reflect *[Default]*
+ % * DeviceMode.Color.Ambient
+ % * DeviceMode.Color.Col
+ % * 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.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]*
@@ -38,22 +78,25 @@ classdef Sensor < MaskedHandle
% sensor.mode. *[READ-ONLY]*
% type (DeviceType): Type of physical sensor connected to the port. Possible types are: [READ-ONLY]
%
- % * DeviceType.NXTTouch
- % * DeviceType.NXTLight
- % * DeviceType.NXTSound
- % * DeviceType.NXTColor
- % * DeviceType.NXTUltraSonic
- % * DeviceType.NXTTemperature
- % * DeviceType.LargeMotor
- % * DeviceType.MediumMotor
- % * DeviceType.Touch
- % * DeviceType.Color
- % * DeviceType.UltraSonic
- % * DeviceType.Gyro
- % * DeviceType.InfraRed
- % * DeviceType.Unknown
- % * DeviceType.None
- % * DeviceType.Error
+ % * DeviceType.NXTTouch
+ % * DeviceType.NXTLight
+ % * DeviceType.NXTSound
+ % * DeviceType.NXTColor
+ % * DeviceType.NXTUltraSonic
+ % * DeviceType.NXTTemperature
+ % * DeviceType.LargeMotor
+ % * DeviceType.MediumMotor
+ % * DeviceType.Touch
+ % * DeviceType.Color
+ % * DeviceType.UltraSonic
+ % * DeviceType.Gyro
+ % * DeviceType.InfraRed
+ % * DeviceType.HTColor
+ % * DeviceType.HTCompass
+ % * DeviceType.HTAccelerometer
+ % * 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,
@@ -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