root/branches/telle/v2.00-at/mfiles/@NXTmotor/NXTmotor.m @ 403

% NXTmotor Construct NXTmotor object
%
%     M = NXTmotor(PORT) constructs an 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'). To have two motors
%     synchronized PORT may be a vector of two ports in ascending
%     order. 
%
%     M = NXTmotor(PORT, 'PropName1', PropValue1, 'PropName2',
%     PropValue2, ...) constructs an NXTmotor object with motor
%     port(s) PORT in which the given Property name/value pairs are
%     set on the object. All properties can also be set after
%     creation by dot-notation (see example). 
%   
%     Example:
%       % Construct a NXTmotor object on port 'B' with a power of
%       % 60, disabled speed regulation, a TachoLimit of 360 and
%       % send the motor settings to the NXT brick.
%       mb = NXTmotor('B', 'Power', 60)
%       mb.SpeedRegulation = 1;
%       mb.TachoLimit = 360;
%       SendToNXT(mb);
%
%     See also NXTmotor/SendToNXT, NXTmotor/ReadFromNXT,
%              NXTmotor/WaitFor, NXTmotor/Stop,
%              NXTmotor/ResetPosition.   
%
%

% Signature
%   Author: Aulis Telle (see AUTHORS)
%   Date: 2008/10/20
%   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/>.                 *
% ***********************************************************************************************

classdef NXTmotor
    properties
        Port              = 0;
        Power             = 0;
        SpeedRegulation   = 1;
        TachoLimit        = 0;
        BrakeAtTachoLimit = 1;
        TurnRatio         = 0;
    end % END OF PROPERTIES SECTION
    
    methods
        % constructor
        function obj = NXTmotor(varargin)
            %
            
            
            propertyArgIn = varargin;
            
            % check, whether first argument is a port specification
            if nargin > 0
                obj.Port = propertyArgIn{1};

                if nargin >= 2
                    propertyArgIn = propertyArgIn(2:end);
                else
                    propertyArgIn = {};
                end
                
                while length(propertyArgIn) >= 2
                    prop = propertyArgIn{1};
                    val  = propertyArgIn{2};
                    if length(propertyArgIn) >= 3
                        propertyArgIn = propertyArgIn(3:end);
                    else
                        propertyArgIn = {};
                    end
                    switch prop
                        case 'Power'
                            obj.Power = val;
                        case 'SpeedRegulation'
                            obj.SpeedRegulation = val;
                        case 'TachoLimit'
                            obj.TachoLimit = val;
                        case 'BrakeAtTachoLimit'
                            obj.Power = val;
                        case 'BrakeAtTachoLimit'
                            obj.Power = val;
                        otherwise
                            error(['MATLAB:RWTHMindstormsNXT:'...
                                'UnsupportedParameter'],...
                                'Unsupported parameter %s',...
                                varargin{argIterator});
                    end
                end
            end
        end
        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        % Setter methods for properties
        function obj = set.Port(obj, val)
            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 (numel(val) == 2) && (val(1) >= val(2))
                    error('MATLAB:RWTHMindstormsNXT:InvalidPort',...
                        'Two ports must be given in ascending order.');
                end

                % check for non-integer values
                if any(rem(val,1) > 0)
                    errror('MATLAB:RWTHMindstormsNXT:InvalidPort',...
                        'Port is not an integer or port label.');
                end

                obj.Port = val;
            else
                error('MATLAB:RWTHMindstormsNXT:InvalidPort',...
                    'No more than two ports may be specified.');
            end
        end
        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
        
        function obj = set.Power(obj, val)
            % 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. The value is rounded.');
                end
                obj.Power = fix(val);
            else
                error('MATLAB:RWTHMindstormsNXT:InvalidPower',...
                    'Power must be a numeric scalar in the range [-100, 100].');
            end
        end
        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        function obj = set.SpeedRegulation(obj, val)
            if isscalar(val) && (isnumeric(val) || islogical(val))
                obj.SpeedRegulation = logical(val);
            else
                error('MATLAB:RWTHMindstormsNXT:InvalidSpeedRegulation',...
                    'SpeedRegulation must be a boolean.');
            end
        end
        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        function obj = set.TachoLimit(obj,val)
            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
        end
        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        function obj = set.BrakeAtTachoLimit(obj, val)
            if isscalar(val) && (isnumeric(val) || islogical(val))
                obj.BrakeAtTachoLimit = logical(val);
            else
                error('MATLAB:RWTHMindstormsNXT:InvalidBrakeAtTachoLimit',...
                    'BrakeAtTachoLimit must be a boolean.');
            end
        end
        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

        function obj = set.TurnRatio(obj, val)
            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
        end
        %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
        
    end % END OF METHODS SECTION
end % END OF CLASS DEFINITION