Changeset 117

Timestamp:

07/05/08 01:15:49 (5 years ago)

Author:

atorf

Message:

USB: Updated motor-related functions to handle-use, removed global NXTMOTOR_State var

Location:

branches/atorf/RWTHMindstormsNXT

Files:

• GetMemoryCount.m (modified) (1 diff)
• GetMotorSettings.m (modified) (2 diffs)
• NXT_ResetMotorPosition.m (modified) (1 diff)
• ResetMotorAngle.m (modified) (1 diff)
• SendMotorSettings.m (modified) (2 diffs)
• SetAngleLimit.m (modified) (3 diffs)
• SetMemoryCount.m (modified) (1 diff)
• SetPower.m (modified) (3 diffs)
• SetRampMode.m (modified) (2 diffs)
• SetTurnRatio.m (modified) (3 diffs)
• SpeedRegulation.m (modified) (2 diffs)
• SyncToMotor.m (modified) (3 diffs)
• obsolete (added)
• obsolete/getFullHandleStruct.m (moved) (moved from branches/atorf/RWTHMindstormsNXT/getFullHandleStruct.m)
• obsolete/updateFullHandleStruct.m (moved) (moved from branches/atorf/RWTHMindstormsNXT/private/updateFullHandleStruct.m)

branches/atorf/RWTHMindstormsNXT/GetMemoryCount.m

@@ -41 +41 @@
 % ***********************************************************************************************
 
-global NXTMOTOR_State;
-
-if isempty(NXTMOTOR_State)
-    initializeGlobalMotorStateVar;
-end%if
+% get default handle & motorstate
+h = COM_GetDefaultNXT();
+NXTMOTOR_State = h.NXTMOTOR_State();
 
 memory = NXTMOTOR_State(number+1).MemoryCount;

branches/atorf/RWTHMindstormsNXT/GetMotorSettings.m

@@ -65 +65 @@
 % ***********************************************************************************************
 
-global NXTMOTOR_State;
-
-if isempty(NXTMOTOR_State)
-    initializeGlobalMotorStateVar;
-end%if
-
 
 if whatmotor < 0 || whatmotor > 2
     error('MATLAB:RWTHMindstormsNXT:Motor:invalidPort', 'Input argument for motor must be 0, 1, or 2')
 end%if
+
+% get default handle & motorstate
+h = COM_GetDefaultNXT();
+NXTMOTOR_State = h.NXTMOTOR_State();
 
 
@@ -121 +119 @@
 NXTMOTOR_State(whatmotor + 1).TachoCount = data.TachoCount;
 
+% save motor state back to handle
+h.NXTMOTOR_State(NXTMOTOR_State);
+
 end%function
 

branches/atorf/RWTHMindstormsNXT/NXT_ResetMotorPosition.m

@@ -53 +53 @@
 % check if bluetooth handle is given. if not use default one
 if nargin > 2
-        handle = varargin{1};
+    handle = varargin{1};
 else
     handle = COM_GetDefaultNXT;

branches/atorf/RWTHMindstormsNXT/ResetMotorAngle.m

@@ -48 +48 @@
 % ***********************************************************************************************
 
-%% Parameter check
-% check if bluetooth handle is given. if not use default one
-if nargin > 1
-    if (ispc && isa(varargin{1}, 'serial')) || (isunix && isscalar(varargin{1}))
-        handle = varargin{1};
-    else
-        error('MATLAB:RWTHMindstormsNXT:Bluetooth:invalidHandle', 'Optional NXT bluetooth handle specified, but not a valid serial port handle');
-    end%if
-else
-    handle = BT_GetDefaultHandle;
-end%if
-
-    NXT_ResetMotorPosition(port, true, handle);
+% as we can see, just a little wrapper that maps the following NXT function and
+% parameter combination to a more obvious name
+NXT_ResetMotorPosition(port, true, handle);
     
 end%function

branches/atorf/RWTHMindstormsNXT/SendMotorSettings.m

@@ -64 +64 @@
 end
 
-
-global NXTMOTOR_State;
-
-if isempty(NXTMOTOR_State)
-    initializeGlobalMotorStateVar;
-end%if
+%% get handle & motorstate
+h = COM_GetDefaultNXT();
+NXTMOTOR_State = h.NXTMOTOR_State();
+
 
 
@@ -204 +202 @@
 end%
 
+
+%% save motor state back to handle
+h.NXTMOTOR_State(NXTMOTOR_State);
+
+
 end%function

branches/atorf/RWTHMindstormsNXT/SetAngleLimit.m

@@ -49 +49 @@
 
 %% Check parameter
-global NXTMOTOR_State;
-
-if isempty(NXTMOTOR_State)
-    initializeGlobalMotorStateVar;
-end%if
-
 whatmotor = GetMotor;
 
@@ -66 +60 @@
 
 
+%% get default handle & motorstate
+h = COM_GetDefaultNXT();
+NXTMOTOR_State = h.NXTMOTOR_State();
+
+
 %% Set angle limit
 NXTMOTOR_State(whatmotor + 1).AngleLimit = NewLimit;
@@ -74 +73 @@
 end%if
 
+
+%% save motor state back to handle
+h.NXTMOTOR_State(NXTMOTOR_State);
+
+
 end%function

branches/atorf/RWTHMindstormsNXT/SetMemoryCount.m

@@ -41 +41 @@
 % ***********************************************************************************************
 
-global NXTMOTOR_State;
 
-if isempty(NXTMOTOR_State)
-    initializeGlobalMotorStateVar;
-end%if
+% get default handle & motorstate
+h = COM_GetDefaultNXT();
+NXTMOTOR_State = h.NXTMOTOR_State();
 
 NXTMOTOR_State(number+1).MemoryCount = angle;
 
+% save motor state back to handle
+h.NXTMOTOR_State(NXTMOTOR_State);
+
+
 end % end function

branches/atorf/RWTHMindstormsNXT/SetPower.m

@@ -45 +45 @@
 
 %% Check parameter
-global NXTMOTOR_State;
-
-if isempty(NXTMOTOR_State)
-    initializeGlobalMotorStateVar;
-end%if
-
 whatmotor = GetMotor;
 
@@ -60 +54 @@
     error('MATLAB:RWTHMindstormsNXT:Motor:invalidPower', 'Power must be between -100 and 100')
 end%if
+
+%% Get handle & motorstate
+h = COM_GetDefaultNXT();
+NXTMOTOR_State = h.NXTMOTOR_State();
 
 
@@ -78 +76 @@
 end%if
 
+%% save state back to handle
+h.NXTMOTOR_State(NXTMOTOR_State);
+
+
 end%function

branches/atorf/RWTHMindstormsNXT/SetRampMode.m

@@ -46 +46 @@
 
 %% Check parameter
-global NXTMOTOR_State;
-
-if isempty(NXTMOTOR_State)
-    initializeGlobalMotorStateVar;
-end%if
-
 % this catches errors if SetMotor wasn't called before
 whatmotor = GetMotor;
+
+
+%% get default handle & motorstate
+h = COM_GetDefaultNXT();
+NXTMOTOR_State = h.NXTMOTOR_State();
+
 
 
@@ -72 +72 @@
 end%if
 
+
+%% save motor state back to handle
+h.NXTMOTOR_State(NXTMOTOR_State);
+
+
 end%function

branches/atorf/RWTHMindstormsNXT/SetTurnRatio.m

@@ -60 +60 @@
 
 %% Check parameter
-global NXTMOTOR_State;
-
-if isempty(NXTMOTOR_State)
-    initializeGlobalMotorStateVar;
-end%if
-
 whatmotor = GetMotor;
 
@@ -75 +69 @@
     error('MATLAB:RWTHMindstormsNXT:Motor:invalidTurnRatio', 'TurnRatio must be between -100 and 100')
 end%if
+
+
+%% get default handle & motorstate
+h = COM_GetDefaultNXT();
+NXTMOTOR_State = h.NXTMOTOR_State();
 
 
@@ -88 +87 @@
 end%if
 
+
+%% save motor state back to handle
+h.NXTMOTOR_State(NXTMOTOR_State);
+
+
 end%function

branches/atorf/RWTHMindstormsNXT/SpeedRegulation.m

@@ -51 +51 @@
 
 %% Check parameter
-global NXTMOTOR_State;
-
-if isempty(NXTMOTOR_State)
-    initializeGlobalMotorStateVar;
-end%if
 
 % this catches errors if SetMotor wasn't called before
 whatmotor = GetMotor;
+
+%% get default handle & motorstate
+h = COM_GetDefaultNXT();
+NXTMOTOR_State = h.NXTMOTOR_State();
+
 
 
@@ -100 +100 @@
 end%if
 
+%% save motor state back to handle
+h.NXTMOTOR_State(NXTMOTOR_State);
+
+
 end%function

branches/atorf/RWTHMindstormsNXT/SyncToMotor.m

@@ -64 +64 @@
 
 %% Check parameter
-global NXTMOTOR_State;
-
-if isempty(NXTMOTOR_State)
-    initializeGlobalMotorStateVar;
-end%if
 
 whatmotor = GetMotor;
@@ -78 +73 @@
     end
 end
+
+%% get default handle & motorstate
+h = COM_GetDefaultNXT();
+NXTMOTOR_State = h.NXTMOTOR_State();
+
 
 %% Set synchronization mode
@@ -145 +145 @@
 end%if
 
+%% save motor state back to handle
+h.NXTMOTOR_State(NXTMOTOR_State);
+
+
+
 end%function