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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 ...@@ -310,7 +310,7 @@ classdef EV3 < MaskedHandle
% Example: % Example:
% b = EV3(); |br| % b = EV3(); |br|
% b.connect('bt', 'serPort', '/dev/rfcomm0'); |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| % second. |br|
% %
......
source/Motor.m
+ 40
− 39
View file @ ffe5ab48
...@@ -9,6 +9,8 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -9,6 +9,8 @@ classdef Motor < MaskedHandle & dynamicprops
% * You don't need to create instances of this class. The EV3-class automatically creates % * 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. % instances for each motor port, and you can work with them via the EV3-object.
% * The Motor-class represents motor ports, not individual motors! % * 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: % Attributes:
% power (numeric in [-100, 100]): Power level of motor in percent. *[WRITABLE]* % power (numeric in [-100, 100]): Power level of motor in percent. *[WRITABLE]*
...@@ -32,7 +34,7 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -32,7 +34,7 @@ classdef Motor < MaskedHandle & dynamicprops
% Depending on limitMode, the input is interpreted either in degrees or % Depending on limitMode, the input is interpreted either in degrees or
% milliseconds. *[WRITABLE]* % milliseconds. *[WRITABLE]*
% limitMode ('Tacho'|'Time'): Mode for motor limit. *[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 % tacholimit, if ~=0) coast to a stop. If 'Brake', the motor will stop immediately
% (at tacholimit, if ~=0) and hold the brake. *[WRITABLE]* % (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 % debug (bool): Debug turned on or off. In debug mode, everytime a command is passed to
...@@ -49,31 +51,31 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -49,31 +51,31 @@ classdef Motor < MaskedHandle & dynamicprops
% power (numeric in [-100, 100]): Power level of motor in percent. [WRITABLE] % power (numeric in [-100, 100]): Power level of motor in percent. [WRITABLE]
power; power;
% speedRegulation (bool): Speed regulation turned on or off. When turned on, motor will % speedRegulation (bool): Speed regulation turned on or off. [WRITABLE]
% try to 'hold' its speed at given power level, whatever the load. In this mode, the % When turned on, motor will try to 'hold' its speed at given power level, whatever
% highest possible speed depends on the load and mostly goes up to around 70-80 (at % the load. In this mode, the highest possible speed depends on the load and mostly
% this point, the Brick internally input 100% power). When turned off, motor will % goes up to around 70-80 (at this point, the Brick internally input 100% power).
% constantly input the same power into the motor. The resulting speed will be % When turned off, motor will constantly input the same power into the motor. The
% somewhat lower, depending on the load. [WRITABLE] % resulting speed will be somewhat lower, depending on the load.
speedRegulation; speedRegulation;
% smoothStart (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time % smoothStart (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time indicating how far/long the motor should smoothly start. [WRITABLE]
% indicating how far/long the motor should smoothly start. Depending on limitMode, % Depending on limitMode, the input is interpreted either in degrees or
% the input is interpreted either in degrees or milliseconds. The first % milliseconds. The first {smoothStart}-milliseconds/degrees of limitValue the
% {smoothStart}-milliseconds/degrees of limitValue the motor will slowly accelerate % motor will slowly accelerate until reaching its defined speed.
% until reaching its defined speed. [WRITABLE] % See also MOTOR.LIMITVALUE, MOTOR.LIMITMODE
smoothStart; smoothStart;
% smoothStop (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time % smoothStop (numeric s. t. smoothStart+smoothStop < limitValue): Degrees/Time indicating how far/long the motor should smoothly stop. [WRITABLE]
% indicating how far/long the motor should smoothly stop. Depending on limitMode, the % Depending on limitMode, the input is interpreted either in degrees or
% input is interpreted either in degrees or milliseconds. The last % milliseconds. The last [smoothStop]-milliseconds/degrees of limitValue the motor
% [smoothStop]-milliseconds/degrees of limitValue the motor will slowly slow down % will slowly slow down until it has stopped.
% until it has stopped. [WRITABLE] % See also MOTOR.LIMITVALUE, MOTOR.LIMITMODE
smoothStop; 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 % Depending on limitMode, the input is interpreted either in degrees or
% milliseconds. [WRITABLE] % milliseconds.
% See also MOTOR.LIMITMODE % See also MOTOR.LIMITMODE
limitValue; limitValue;
...@@ -81,14 +83,14 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -81,14 +83,14 @@ classdef Motor < MaskedHandle & dynamicprops
% See also MOTOR.SMOOTHSTART, MOTOR.SMOOTHSTOP, MOTOR.LIMITMODE % See also MOTOR.SMOOTHSTART, MOTOR.SMOOTHSTOP, MOTOR.LIMITMODE
limitMode; limitMode;
% brakeMode ('Brake'|'Coast'): Mode for braking. If 'Coast', the motor will (at % brakeMode ('Brake'|'Coast'): Action done when stopping. [WRITABLE]
% tacholimit, if ~=0) coast to a stop. If 'Brake', the motor will stop immediately % If 'Coast', the motor will (at tacholimit, if ~=0) coast to a stop. If 'Brake',
% (at tacholimit, if ~=0) and hold the brake. [WRITABLE] % the motor will stop immediately (at tacholimit, if ~=0) and hold the brake.
brakeMode; brakeMode;
% debug (bool): Debug turned on or off. In debug mode, everytime a command is passed to % debug (bool): Debug turned on or off. [WRITABLE]
% the sublayer ('communication layer'), there is feedback in the console about what % In debug mode, everytime a command is passed to the sublayer ('communication
% command has been called. [WRITABLE] % layer'), there is feedback in the console about what command has been called.
debug; debug;
end end
...@@ -99,8 +101,9 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -99,8 +101,9 @@ classdef Motor < MaskedHandle & dynamicprops
% tachoCount (numeric): Current tacho count. [READ-ONLY] % tachoCount (numeric): Current tacho count. [READ-ONLY]
tachoCount; tachoCount;
% currentSpeed (numeric): Current speed of motor. If speedRegulation=on this should % currentSpeed (numeric): Current speed of motor. [READ-ONLY]
% equal power, otherwise it will probably be lower than that. [READ-ONLY] % If speedRegulation=on this should equal power, otherwise it will probably be
% lower than that.
% See also MOTOR.SPEEDREGULATION % See also MOTOR.SPEEDREGULATION
currentSpeed; currentSpeed;
...@@ -146,7 +149,7 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -146,7 +149,7 @@ classdef Motor < MaskedHandle & dynamicprops
% See also PORTNO % See also PORTNO
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 'A': 16
% - Port 'B': 17 % - Port 'B': 17
% - Port 'C': 18 % - Port 'C': 18
...@@ -154,7 +157,7 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -154,7 +157,7 @@ classdef Motor < MaskedHandle & dynamicprops
% See also PORTINPUT % See also PORTINPUT
portInput; portInput;
%isSynced (bool): True if motor is running in synced mode % isSynced (bool): True if motor is running in synced mode
isSynced; isSynced;
% isMaster (bool): True if motor is running in synced mode and has a slave % isMaster (bool): True if motor is running in synced mode and has a slave
...@@ -166,7 +169,7 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -166,7 +169,7 @@ classdef Motor < MaskedHandle & dynamicprops
% physicalMotorConnected (bool): True if physical motor is connected to this port % physicalMotorConnected (bool): True if physical motor is connected to this port
physicalMotorConnected; 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; internalTachoCount;
end end
...@@ -196,7 +199,7 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -196,7 +199,7 @@ classdef Motor < MaskedHandle & dynamicprops
% a tacholimit for some time using Coast, then stop using Coast, and then try % 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, % to run the with a tacholimit, it will stop sooner or later than expected,
% or may not even start at all. % 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 % 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 % 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 % to control the motor without a limit after doing so with a limit, you would
...@@ -342,11 +345,7 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -342,11 +345,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::stop: No physical motor connected to Port %s',... error('Motor::stop: No physical motor connected to Port %s',...
port2str('Motor', motor.port)); port2str('Motor', motor.port));
elseif motor.isSynced && motor.isRunning elseif motor.isSynced && motor.isRunning
if motor.isMaster motor.syncedStop();
motor.syncedStop();
elseif motor.isSlave
motor.('master').syncedStop();
end
return; return;
% error(['Motor::stop: Motor is running synchronized with another motor. ' ,... % error(['Motor::stop: Motor is running synchronized with another motor. ' ,...
% 'Use ''syncedStop'' on the ''master''-motor.']); % 'Use ''syncedStop'' on the ''master''-motor.']);
...@@ -400,7 +399,6 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -400,7 +399,6 @@ classdef Motor < MaskedHandle & dynamicprops
% % Do stuff % % Do stuff
% m.syncedStop(); |br| % m.syncedStop(); |br|
% %
turnRatio = 0; turnRatio = 0;
% Check parameters % Check parameters
...@@ -506,7 +504,7 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -506,7 +504,7 @@ classdef Motor < MaskedHandle & dynamicprops
error('Motor::syncedStop: Motor has not been started synchronized with another.'); error('Motor::syncedStop: Motor has not been started synchronized with another.');
else else
% Retrieve synced motor from cache % Retrieve synced motor from cache
if length(findprop(motor, 'slave'))==1 if motor.isMaster
syncMotor = motor.slave; syncMotor = motor.slave;
delete(motor.findprop('slave')); delete(motor.findprop('slave'));
delete(syncMotor.findprop('master')); delete(syncMotor.findprop('master'));
...@@ -615,6 +613,9 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -615,6 +613,9 @@ classdef Motor < MaskedHandle & dynamicprops
% %
% Notes: % Notes:
% * A better name would probably be resetPosition... % * 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 % See also MOTOR.RESETTACHOCOUNT
...@@ -945,7 +946,7 @@ classdef Motor < MaskedHandle & dynamicprops ...@@ -945,7 +946,7 @@ classdef Motor < MaskedHandle & dynamicprops
busyFlag = 0; busyFlag = 0;
end end
assert(~(motor.state.startedNotBusy && busyFlag)); % assert(~(motor.state.startedNotBusy && busyFlag));
running = motor.state.startedNotBusy || busyFlag; running = motor.state.startedNotBusy || busyFlag;
end end
......
source/Sensor.m
+ 120
− 35
View file @ ffe5ab48
...@@ -17,20 +17,60 @@ classdef Sensor < MaskedHandle ...@@ -17,20 +17,60 @@ classdef Sensor < MaskedHandle
% mode and the default mode for a Sensor-object are the following (depending on the % mode and the default mode for a Sensor-object are the following (depending on the
% sensor type): *[WRITABLE]* % sensor type): *[WRITABLE]*
% %
% * Touch-Sensor: % * Touch-Sensor:
% * DeviceMode.Touch.Pushed [Default] % * DeviceMode.Touch.Pushed *[Default]*
% * DeviceMode.Touch.Bumps % * DeviceMode.Touch.Bumps
% * Ultrasonic-Sensor: % * Ultrasonic-Sensor:
% * DeviceMode.UltraSonic.DistCM [Default] % * DeviceMode.UltraSonic.DistCM *[Default]*
% * DeviceMode.UltraSonic.DistIn % * DeviceMode.UltraSonic.DistIn
% * DeviceMode.UltraSonic.Listen % * DeviceMode.UltraSonic.Listen
% * Color-Sensor: % * Color-Sensor:
% * DeviceMode.Color.Reflect [Default] % * DeviceMode.Color.Reflect *[Default]*
% * DeviceMode.Color.Ambient % * DeviceMode.Color.Ambient
% * DeviceMode.Color.Col % * DeviceMode.Color.Col
% * Gyro-Sensor: % * Gyro-Sensor:
% * DeviceMode.Gyro.Angular [Default] % * DeviceMode.Gyro.Angular *[Default]*
% * DeviceMode.Gyro.Rate % * 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 % 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 % the sublayer ('communication layer'), there is feedback in the console about what
% command has been called. *[WRITABLE]* % command has been called. *[WRITABLE]*
...@@ -38,22 +78,25 @@ classdef Sensor < MaskedHandle ...@@ -38,22 +78,25 @@ classdef Sensor < MaskedHandle
% sensor.mode. *[READ-ONLY]* % sensor.mode. *[READ-ONLY]*
% 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. Possible types are: [READ-ONLY]
% %
% * DeviceType.NXTTouch % * DeviceType.NXTTouch
% * DeviceType.NXTLight % * DeviceType.NXTLight
% * DeviceType.NXTSound % * DeviceType.NXTSound
% * DeviceType.NXTColor % * DeviceType.NXTColor
% * DeviceType.NXTUltraSonic % * DeviceType.NXTUltraSonic
% * DeviceType.NXTTemperature % * DeviceType.NXTTemperature
% * DeviceType.LargeMotor % * DeviceType.LargeMotor
% * DeviceType.MediumMotor % * DeviceType.MediumMotor
% * DeviceType.Touch % * DeviceType.Touch
% * DeviceType.Color % * DeviceType.Color
% * DeviceType.UltraSonic % * DeviceType.UltraSonic
% * DeviceType.Gyro % * DeviceType.Gyro
% * DeviceType.InfraRed % * DeviceType.InfraRed
% * DeviceType.Unknown % * DeviceType.HTColor
% * DeviceType.None % * DeviceType.HTCompass
% * DeviceType.Error % * DeviceType.HTAccelerometer
% * DeviceType.Unknown
% * DeviceType.None
% * DeviceType.Error
properties % Standard properties to be set by user properties % Standard properties to be set by user
% mode (DeviceMode.{Type}): Sensor mode in which the value will be read. By default, % mode (DeviceMode.{Type}): Sensor mode in which the value will be read. By default,
...@@ -76,7 +119,46 @@ classdef Sensor < MaskedHandle ...@@ -76,7 +119,46 @@ classdef Sensor < MaskedHandle
% * Gyro-Sensor: % * Gyro-Sensor:
% * DeviceMode.Gyro.Angular [Default] % * DeviceMode.Gyro.Angular [Default]
% * DeviceMode.Gyro.Rate % * 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 % See also SENSOR.VALUE, SENSOR.TYPE
mode; mode;
...@@ -87,13 +169,13 @@ classdef Sensor < MaskedHandle ...@@ -87,13 +169,13 @@ classdef Sensor < MaskedHandle
end end
properties (Dependent) % Parameters to be read directly from physical brick properties (Dependent) % Parameters to be read directly from physical brick
% value (numeric): Value read from hysical sensor. What the value represents depends on % value (numeric): Value read from physical sensor. [READ-ONLY]
% sensor.mode. *[READ-ONLY]* % What the value represents depends on sensor.mode.
% See also SENSOR.MODE % See also SENSOR.MODE
value; value;
% type (DeviceType): Type of physical sensor connected to the port. Possible types are % type (DeviceType): Type of physical sensor connected to the port. [READ-ONLY]
% *[READ-ONLY]*: % Possible types are:
% * DeviceType.NXTTouch % * DeviceType.NXTTouch
% * DeviceType.NXTLight % * DeviceType.NXTLight
% * DeviceType.NXTSound % * DeviceType.NXTSound
...@@ -107,6 +189,9 @@ classdef Sensor < MaskedHandle ...@@ -107,6 +189,9 @@ classdef Sensor < MaskedHandle
% * DeviceType.UltraSonic % * DeviceType.UltraSonic
% * DeviceType.Gyro % * DeviceType.Gyro
% * DeviceType.InfraRed % * DeviceType.InfraRed
% * DeviceType.HTColor
% * DeviceType.HTCompass
% * DeviceType.HTAccelerometer
% * DeviceType.Unknown % * DeviceType.Unknown
% * DeviceType.None % * DeviceType.None
% * DeviceType.Error % * DeviceType.Error
......
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