root/branches/telle/RWTHMindstormsNXT/@NXTmotor/set.m @ 243

function 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.
%

% Author: Aulis Telle, IND, RWTH Aachen

if ~isa(obj,'NXTmotor')
    error('RWTHMINDSTORMS:NXTmotor:InvalidObject', 'No NXTmotor object.');
end

if numel(obj) > 1
    error('RWTHMINDSTORMS:NXTmotor: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'' | ''sync'' ]\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 isscalar(val) && isnumeric(val) && val >= 0 && val <= 2
                    obj.data('port', val);
                elseif ischar(val)
                    val = lower(val);
                    switch val
                        case 'a'
                            obj.data('port', 0);
                        case 'b'
                            obj.data('port', 1);
                        case 'c'
                            obj.data('port', 2);
                        otherwise
                            error('MotorSettingError:InvalidPort',...
                                'Port may be one of ''A'', ''B'', or ''C''.');
                    end
                else
                    error('MotorSettingError:InvalidPort',...
                        'Port number must be MOTOR_A, MOTOR_B, or MOTOR_C.');
                end
      
            case 'Power'
                if isscalar(val) && isnumeric(val) && val >= -100 && val <= 100
                    obj.data('power',val);
                else
                    error('MotorSettingError: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.data('motorOn', val);
                elseif islogical(val)
                    if val
                        obj.data('motorOn', 1);
                    else
                        obj.data('motorOn', 0);
                    end
                elseif ischar(val)
                    if strcmpi(val,'on')
                        obj.data('motorOn', 1);
                    elseif strcmpi(val,'off')
                        obj.data('motorOn', 0);
                    else
                        error('MototSettingError:InvalidMotorOn',...
                            'MotorOn may be ''on'' or ''off''.');
                    end
                else
                    error('MototSettingError:InvalidMotorOn',...
                        'MotorOn may be ''on'' or ''off''.');
                end

            case 'Brake'
                if isscalar(val) && isnumeric(val) && (val == 0 || val == 1)
                    obj.data('brake', val);
                elseif islogical(val)
                    if val
                        obj.data('brake', 1);
                    else
                        obj.data('brake', 0);
                    end
                elseif ischar(val)
                    if strcmpi(val,'on')
                        obj.data('brake', 1);
                    elseif strcmpi(val,'off')
                        obj.data('brake', 0);
                    else
                        error('MototSettingError:InvalidBreak',...
                            'Break may be ''on'' or ''off''.');
                    end
                else
                    error('MototSettingError:InvalidBreak',...
                        'Break may be ''on'' or ''off''.');
                end
                %         case 'Regulated'
                %             if ischar(val)
                %                 if strcmpi(val,'on')
                %                     obj.mode.regulated = 1;
                %                 elseif strcmpi(val,'off')
                %                     obj.mode.regulated = 0;
                %                 else
                %                     error('MototSettingError:InvalidRegulated', ...
                %                         'MotorOn may be ''on'' or ''off''.');
                %                 end
                %             end
            case 'RegulationMode'
                if ischar(val)
                    switch lower(val)
                        case 'idle'
                            obj.data('regulationMode', 'IDLE');
                        case 'speed'
                            obj.data('regulationMode', 'SPEED');
                        case 'sync'
                            obj.data('regulationMode', 'SYNC');
                        case 'speedsync'
                            obj.data('regulationMode', 'SPEEDSYNC');
                        otherwise
                            error('MototSettingError:InvalidRegulationMode', ...
                                'RegulationMode may be ''idle'', ''speed'', or ''sync''.');
                    end
                end

            case 'TurnRatio'
                if isscalar(val) && isnumeric(val) && val >= -100 && val <= 100
                    obj.data('turnRatio', val);
                else
                    error('MotorSettingError:InvalidTurnRatio',...
                        'TurnRatio must be a numeric scalar in the range [-100, 100].');
                end

            case 'RunState'
                if ischar(val)
                    switch lower(val)
                        case 'idle'
                            obj.data('runState', 'IDLE');
                        case 'rampup'
                            obj.data('runState', 'RAMPUP');
                        case 'running'
                            obj.data('runState', 'RUNNING');
                        case 'rampdown'
                            obj.data('runState', 'RAMPDOWN');
                        otherwise
                            error('MototSettingError:InvalidRunState', ...
                                'RunState may be ''idle'', ''rampup'', ''running'', or ''rampdown''.');
                    end
                end

            case 'TachoLimit'
                if isscalar(val) && isnumeric(val)
                    obj.data('tachoLimit', val);
                else
                    error('MotorSettingError:InvalidTachoLimit',...
                        'TachoLimit must be a numeric scalar. Zero means run forever.');
                end
            otherwise
                disp(sprintf('Unsupported parameter %s',varargin{argIterator}));
        end
    end
end