root/branches/atorf/RWTHMindstormsNXT-Lejos-Combined/@NXTmotor/NXTmotor.m @ 272

function [ obj ] = NXTmotor( varargin )
% NXTMOTOR Construct NXTmotor object
%
%     M = NXTMOTOR(PORT) constructs a NXTmotor object with motor port PORT and
%     default attributes. PORT may be either the port number (0, 1, 2 or
%     MOTOR_A, MOTOR_B, MOTOR_C) or a  string specifying the port ('A',
%     'B', 'C'). If PORT is omitted, the port defaults to 'A'.
%
%     M = NXTMOTOR(PORT, 'PropName1', PropValue1, 'PropName2', PropValue2, ...)
%     constructs a NXTmotor object with motor port PORT in which the given
%     Property nam/value pairs are set on the object. All properties can
%     also be set after creation by dot-notation or the set function (see
%     example). 
%
%     Note that the property value pairs can be in any format supported by
%     the SET function.
%   
%     Example:
%       % Construct a NXTmotor object on port 'B' with a power of 60,
%       % switch on the brake, set a TachoLimit of 360 and send the
%       % motor settings to the NXT brick.
%       mb = NXTmotor('B', 'Power', 60)
%       mb.Brake = 'on';
%       set(mb, 'TachoLimit', 360);
%       send(mb);
%
%     See also NXTMOTOR/SET, NXTMOTOR/GET, NXTMOTOR/WAIT, NXTMOTOR/STOP,
%     NXTMOTOR/READ, NXTMOTOR/SEND, NXTMOTOR/RESET.
%
%

% Signature
%   Author: Aulis Telle (see AUTHORS)
%   Date: 2008/08/15
%   Copyright: 2007-2008, RWTH Aachen University
%
%
% ***********************************************************************************************
% *  This file is part of the RWTH - Mindstorms NXT Toolbox.                                    *
% *                                                                                             *
% *  The RWTH - Mindstorms NXT Toolbox is free software: you can redistribute it and/or modify  *
% *  it under the terms of the GNU General Public License as published by the Free Software     *
% *  Foundation, either version 3 of the License, or (at your option) any later version.        *
% *                                                                                             *
% *  The RWTH - Mindstorms NXT Toolbox is distributed in the hope that it will be useful,       *
% *  but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS  *
% *  FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.             *
% *                                                                                             *
% *  You should have received a copy of the GNU General Public License along with the           *
% *  RWTH - Mindstorms NXT Toolbox. If not, see <http://www.gnu.org/licenses/>.                 *
% ***********************************************************************************************


if nargin > 0 && isa(varargin{1}, 'NXTmotor')
    obj = varargin{1};
else
%     port = 0;
%     if nargin > 0
%         val = varargin{1};
%         if numel(val) <= 2
%             if ischar(val)
%                 val = double(val) - 65;
%             end
%             if any(val < 0) || any (val > 2)
%                 error('MotorSettingError:InvalidPort',...
%                     'A port may be one of ''A'', ''B'', ''C'' of 0, 1, 2 respectively.');
%             end
%             if any(diff(val)) < 0
%                 error('MotorSettingError:InvalidPort',...
%                     'Multiple ports must be given in ascending order.');
%             end
%             port = val;
%         else
%             error('MotorSettingError:InvalidPort',...
%                 'No more than two ports may be specified.');
%         end
%     end
% 
    obj.Port           = 0;
    obj.Power          = 0;
    obj.MotorOn        = 1;
    obj.Brake          = 1;
    obj.RegulationMode = 'SPEED';
    obj.TurnRatio      = 0;
    obj.RunState       = 'RUNNING';
    obj.TachoLimit     = 0;
end

if ~isa(obj, 'NXTmotor')
    obj = class(obj, 'NXTmotor');

    % Set port (this makes checking port argument unnecessary)
    obj = set(obj, 'Port', varargin{1});
end

if nargin > 1
    obj = set(obj, varargin{2:end});
end

end
% END OF MAIN FUNCTION