root/branches/telle/v2.00-at/mfiles/@NXTmotor/ReadFromNXT.m @ 392

function [ varargout ] = ReadFromNXT( obj ) 
%READFROMNXT Read current state of specified motor from NXT brick
%
%     DATA = READFROMNXT(OBJ) requests the current state of the motor specified 
%     with OBJ from the NXT brick. NXTmotor object OBJ is not modified.
%     DATA is a structure with property/value pairs.
%
%     [DATA1 DATA2] = READFROMNXT(OBJ) If the NXTmotor object OBJ
%     controls two motors, DATA1 and DATA2 hold the parameters of
%     the first and the second motor respectively. If only one
%     output argument is given, the parameters of the first motor
%     are returned.
%
%     See also NXTmotor.

% 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 > 2
    error('MATLAB:RWTHMindstormsNXT:WrongNumberOfParameters',...
          'To many output parameters');
end

if nargout > numel(obj.Port)
    error('MATLAB:RWTHMindstormsNXT:WrongNumberOfParameters',...
          'Number of output parameters does not match number of ports');
end
    
for k = 1:nargout
  settings = NXT_GetOutputState(obj.Port(k));
  data.Port = settings.Port;
  data.Power = settings.Power;
  if strcmp(settings.RunStateName, 'RUNNING') == 1
    data.IsRunning = 1;
  else
    data.IsRunning = 0;
  end
  if strcmp(settings.RegModeName, 'SPEED') == 1
    data.SpeedRegulation = 1;
  else
    data.SpeedRegulation = 0;
  end
  data.TachoLimit = settings.TachoLimit;
  data.TachoCount = settings.TachoCount;
  data.Position   = settings.RotationCount;
  data.TurnRatio  = settings.TurnRatio;
  
  varargout{k} = data;
end