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

function [ timedOut ] = wait( obj , timeout)
% WAIT Wait for motor to stop (busy waiting)
%   
%     WAIT(OBJ) waits for motor specified by OBJ to stop.
%     We do this by reading the motor settings from the NXT 
%     brick repeatedly until the RunState goes to 'idle'. If the motor
%     is set to run infinitely, return immediately and display a 
%     warning.
%
%     TIMEDOUT = WAIT(OBJ, TIMEOUT) does the same as described 
%     above but has an additional timeout TIMEOUT (given in 
%     seconds). After this time the function stops waiting and
%     returns
%
%     Example:
%         % Instantiate Motor and run it
%         m = NXTmotor('A', 'Power', 50, 'MotorOn', 1, ...
%                      'RunState', 'running', 'TachoLimit', 1000);
%         send(m);
%         % Wait for the motor
%         t = wait(m, 0.5);
%         if t ~= 0
%             disp('Timed out');
%         end
%
%     See also NXTmotor/set, 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
    timedOut = 0;
end

if ~exist('timeout','var')
    timeout = 0;
end

starttime = now;
endtime = starttime + datenum(0,0,0,0,0,timeout);

data = read(obj);
if data.TachoLimit == 0 && ~ strcmpi(data.RunState,'idle')
    warning('RWTHMINDSTORMS:MotorWait',...
        'Motor running infinitely. Not waiting for this motor!');
    return;
end

while ~ strcmpi(data.RunState,'idle')
    if exist('timedOut', 'var') && timeout > 0 && now >= endtime
        timedOut = 1;
        break;
    end
    pause(0.002);
    data = read(obj);
end