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

function obj = set( obj, varargin )
% SET Configure or display NXTmotor object properties.
% 
%     SET(OBJ) displays property names and their possible values for all
%     configurable properties of NXTmotor object OBJ. OBJ must be a single
%     NXTmotor object.
%
%     SET(OBJ, 'PropertyName', PropertyValue, ...) configures the
%     porperty, PropertyName, to the specified value, PropertyValue, for
%     NXTmotor object OBJ. You can specify multiple property name/property
%     value pairs in a singel statement. OBJ must be a single NXTmotor
%     object.
%   
%     You can set properties also by using dot notation.
%
%     Examples:
%         mb = NXTmotor('B');
%         set(mb) % Display all configurable properties and their possible 
%                 % values
%         set(mb, 'Power', 80);
%         mb.RegulationMode = 'speed';
%
%     See also NXTmotor/get.
%

% 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 ~isa(obj,'NXTmotor')
    error('MATLAB:RWTHMindstormsNXT:InvalidObject',...
        'No NXTmotor object.');
end

if nargout == 0
    error('MATLAB:RWTHMindstormsNXT:InvalidUsage',...
        'No output argument supplied to set.');
end

if numel(obj) > 1
    error('MATLAB:RWTHMindstormsNXT:InputNotScalar',...
        'Set method supports only scalar objects.');
end

if (nargin == 1) % e.g., 'set(OBJ)'
    fprintf('              Port: [ ''A'' | ''B'' | ''C''] -or- integer in the range [0, 2]\n');
    fprintf('             Power: integer in the range [-100, 100]\n');
    fprintf('           MotorOn: [ ''off'' | {''on''} ] \n');
    fprintf('             Brake: [ {''off''} | ''on'' ] \n');
    fprintf('    RegulationMode: [ ''idle'' | {''speed''} ]\n');
    fprintf('         TurnRatio: integer in the rage [-100, 100].\n');
    fprintf('          RunState: [ ''idle'' | {''running''} | ''rampup'' | ''rampdown'']\n');
    fprintf('        TachoLimit: positive integer, 0 means no limit.\n');
else 
    propertyArgIn = varargin;
    while length(propertyArgIn) >= 2
        prop = propertyArgIn{1};
        val  = propertyArgIn{2};
        if length(propertyArgIn) >= 3
            propertyArgIn = propertyArgIn(3:end);
        else
            propertyArgIn = {};
        end
        switch prop
            case 'Port'
                if numel(val) <= 2
                    % Convert to numeric representation (65 == 'A')
                    if ischar(val)
                        val = double(upper(val)) - 65;
                    end
                    
                    % Check, if any port is out of the alt range
                    if any(val < 0) || any (val > 2)
                        error('MATLAB:RWTHMindstormsNXT:InvalidPort',...
                            'One or more of the given ports are invalid.');
                    end
                    
                    % Check, if ports are given in ascending order by 
                    % taking the difference of successive values. If any
                    % of them is lower zero they are not in ascending order
                    if any(diff(val)) < 0
                        error('MATLAB:RWTHMindstormsNXT:InvalidPort',...
                            'Multiple ports must be given in ascending order.');
                    end
                    
                    % check for non-integer values
                    if any(rem(val,1) > 0)
                        warning('MATLAB:RWTHMindstormsNXT:InvalidPort',...
                            'Port is not an integer or port label.');
                    end
                    
                    obj.Port = fix(val);
                else
                    error('MATLAB:RWTHMindstormsNXT:InvalidPort',...
                        'No more than two ports may be specified.');
                end
        
            case 'Power'
                % Power must be a scalar, be numerir and be in the range
                % [-100 100]
                if isscalar(val) && isnumeric(val) && val >= -100 && val <= 100
                    if any(rem(val,1) > 0)
                        warning('MATLAB:RWTHMindstormsNXT:InvalidPort',...
                            'Power is not an integer.');
                    end
                    obj.Power = fix(val);
                else
                    error('MATLAB:RWTHMindstormsNXT:InvalidPower',...
                        'Power must be a numeric scalar in the range [-100, 100].');
                end
      
            case 'MotorOn'
                if isscalar(val) && isnumeric(val) && (val == 0 || val == 1)
                    obj.MotorOn = val;
                elseif islogical(val)
                    if val
                        obj.MotorOn = 1;
                    else
                        obj.MotorOn = 0;
                    end
                elseif ischar(val)
                    if strcmpi(val,'on')
                        obj.MotorOn = 1;
                    elseif strcmpi(val,'off')
                        obj.MotorOn = 0;
                    else
                        error('MATLAB:RWTHMindstormsNXT:InvalidMotorOn',...
                            'MotorOn may be ''on'' or ''off''.');
                    end
                else
                    error('MATLAB:RWTHMindstormsNXT:InvalidMotorOn',...
                        'MotorOn may be ''on'' or ''off''.');
                end

            case 'Brake'
                if isscalar(val) && isnumeric(val) && (val == 0 || val == 1)
                    obj.Brake = val;
                elseif islogical(val)
                    if val
                        obj.Brake = 1;
                    else
                        obj.Brake = 0;
                    end
                elseif ischar(val)
                    if strcmpi(val,'on')
                        obj.Brake = 1;
                    elseif strcmpi(val,'off')
                        obj.Brake = 0;
                    else
                        error('MATLAB:RWTHMindstormsNXT:InvalidBrake',...
                            'Break may be ''on'' or ''off''.');
                    end
                else
                    error('MATLAB:RWTHMindstormsNXT:InvalidBrake',...
                        'Break may be ''on'' or ''off''.');
                end

            case 'RegulationMode'
                if ischar(val)
                    switch lower(val)
                        case 'idle'
                            obj.RegulationMode = 'IDLE';
                        case 'speed'
                            obj.RegulationMode = 'SPEED';
                        otherwise
                            error('MATLAB:RWTHMindstormsNXT:InvalidRegulationMode',...
                                'RegulationMode may be ''idle'' or ''speed''.');
                    end
                else
                    error('MATLAB:RWTHMindstormsNXT:InvalidRegulationMode',...
                          'RegulationMode may be ''idle'' or ''speed''.');
                end

            case 'TurnRatio'
                if isscalar(val) && isnumeric(val) && val >= -100 && val <= 100
                    if any(rem(val,1) > 0)
                        warning('MATLAB:RWTHMindstormsNXT:InvalidTurnRatio',...
                            'TurnRatio is not an integer.');
                    end
                    obj.TurnRatio = fix(val);
                else
                    error('MATLAB:RWTHMindstormsNXT:InvalidTurnRatio',...
                        'TurnRatio must be a numeric scalar in the range [-100, 100].');
                end

            case 'RunState'
                if ischar(val)
                    switch lower(val)
                        case 'idle'
                            obj.RunState = 'IDLE';
% Not supported at the moment                            
%                         case 'rampup'
%                             obj.runState = 'RAMPUP';
                        case 'running'
                            obj.RunState = 'RUNNING';
% Not supported at the moment                            
%                         case 'rampdown'
%                             obj.runState = 'RAMPDOWN';
                        otherwise
                            error('MATLAB:RWTHMindstormsNXT:InvalidRunState',...
                                'RunState may be ''idle'' or ''running''.');
%                                'RunState may be ''idle'', ''rampup'', ''running'', or ''rampdown''.');
                    end
                else
                    error('MATLAB:RWTHMindstormsNXT:InvalidRunState',...
                        'RunState may be ''idle'' or ''running''.');
                end

            case 'TachoLimit'
                if isscalar(val) && isnumeric(val) && val >= 0
                    if any(rem(val,1) > 0)
                        warning('MATLAB:RWTHMindstormsNXT:InvalidTachoLimit',...
                            'TachoLimit is not an integer.');
                    end
                    obj.TachoLimit = fix(val);
                else
                    error('MATLAB:RWTHMindstormsNXT:InvalidTachoLimit',...
                        'TachoLimit must be a non-negative numeric scalar. Zero means run forever.');
                end
            otherwise
                error('MATLAB:RWTHMindstormsNXT:UnsupportedParameter',...
                    'Unsupported parameter %s',varargin{argIterator});
        end
    end
end

if (nargout == 0)
    clear obj;
end