root/branches/telle/RWTHMindstormsNXT/@NXTmotor/NXTmotor.m @ 246

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.
%

% Author: Aulis Telle, IND, RWTH Aachen


if nargin > 0 && isa(varargin{1}, 'NXTmotor')
    obj = varargin{1};
else
    port = 0;
    if nargin > 0
        val = varargin{1};
        if isscalar(val) && isnumeric(val) && val >= 0 && val <= 2
            port = val;
        elseif ischar(val)
            switch lower(val)
                case 'a'
                    port = 0;
                case 'b'
                    port = 1;
                case 'c'
                    port = 2;
                otherwise
                    error('MotorSettingError:InvalidPort',...
                        'Port may be one of ''A'', ''B'', or ''C''.');
            end
        else
            error('MotorSettingError:InvalidPort',...
                'Port may be one of ''A'', ''B'', or ''C''.');
        end
    end

    obj.port           = port;
    obj.power          = 0;
    obj.motorOn        = 1;
    obj.brake          = 1;
    obj.regulationMode = 'IDLE';
    obj.turnRatio      = 0;
    obj.runState       = 'RUNNING';
    obj.tachoLimit     = 0;
end


obj = class(obj, 'NXTmotor');

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

end
% END OF MAIN FUNCTION