Changeset 122

Timestamp:

07/05/08 13:32:38 (5 years ago)

Author:

behrens

Message:

add NXT_Get_Firmware_Version.m, add NXT_PlaySoundFile.m, add NXT_StopSoundPlayback.m (COM_* version)
add LUT entry NXTWRITE_IO_MAP (not supported yet)

Location:

branches/atorf/RWTHMindstormsNXT

Files:

• NXT_Get_Firmware_Version.m (copied) (copied from branches/behrens/RWTHMindstormsNXT/NXT_Get_Firmware_Version.m) (7 diffs)
• NXT_PlaySoundFile.m (copied) (copied from branches/behrens/RWTHMindstormsNXT/NXT_PlaySoundFile.m) (3 diffs)
• NXT_StopSoundPlayback.m (copied) (copied from branches/behrens/RWTHMindstormsNXT/NXT_StopSoundPlayback.m) (4 diffs)
• private/name2commandbytes.m (modified) (1 diff)

branches/atorf/RWTHMindstormsNXT/NXT_Get_Firmware_Version.m

@@ -14 +14 @@
 %   Bluetooth connection |handle|. This should be a serial handle on a PC system and a file handle on a Linux system.
 %
-%   If no Bluetooth |handle| is specified the default one (|BT_GetDefaultHandle|) is used.
+%   If no Bluetooth |handle| is specified the default one (|COM_GetDefaultHandle|) is used.
 %
 % Examples
@@ -22 +22 @@
 %+   [protocol_version firmware_version] = NXT_Get_Firmware_Version(bt_handle);
 %
-% See also: BT_GetDefaultHandle
+% See also: COM_GetDefaultHandle
 %
 % Signature
@@ -49 +49 @@
 % check if bluetooth handle is given; if not use default one
 if nargin > 0
-    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
+    handle = varargin{1};
 else
-    handle = BT_GetDefaultHandle;
+    handle = COM_GetDefaultHandle;
 end%if
 
@@ -78 +74 @@
 % check if bluetooth handle is given; if not use default one
 if nargin > 0
-    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
+    handle = varargin{1};
 else
-    handle = BT_GetDefaultHandle;
+    handle = COM_GetDefaultHandle;
 end%if
 
@@ -93 +85 @@
 
 %% Pack bluetooth packet
-packet = BT_CreatePacket(type, cmd, 'reply', []); 
+packet = COM_CreatePacket(type, cmd, 'reply', []); 
 textOut(sprintf('+ Requesting firmware version...\n'));
 
 
 %% Send bluetooth packet
-BT_SendPacket(packet, handle);
+COM_SendPacket(packet, handle);
 
 end % end function
@@ -115 +107 @@
 % check if bluetooth handle is given; if not use default one
 if nargin > 0
-    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
+   handle = varargin{1};
 else
-    handle = BT_GetDefaultHandle;
+    handle = COM_GetDefaultHandle;
 end%if
 
@@ -129 +117 @@
 
 %% Collect bluetooth packet
-[type cmd status content] = BT_CollectPacket(handle);
+[type cmd status content] = COM_CollectPacket(handle);
 
 %% Check if packet is the right one

branches/atorf/RWTHMindstormsNXT/NXT_PlaySoundFile.m

@@ -16 +16 @@
 %   This should be a serial handle on a PC system and a file handle on a Linux system. 
 %
-%   If no Bluetooth |bt_handle| is specified the default one (|BT_GetDefaultHandle|) is used.
+%   If no Bluetooth |bt_handle| is specified the default one (|COM_GetDefaultHandle|) is used.
 %
 % For more details see the official LEGO Mindstorms communication protocol.
@@ -53 +53 @@
 % check if bluetooth handle is given. if not use default one
 if nargin > 2
-    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
+    handle = varargin{1};
 else
-    handle = BT_GetDefaultHandle;
+    handle = COM_GetDefaultHandle;
 end%if
 
@@ -106 +102 @@
 
 %% Pack bluetooth packet
-packet = BT_CreatePacket(type, cmd, 'dontreply', payload); 
+packet = COM_CreatePacket(type, cmd, 'dontreply', payload); 
 textOut(sprintf('+ Playing sound file: %s \n', filename));
 
 
 %% Send bluetooth packet
-BT_SendPacket(packet, handle);
+COM_SendPacket(packet, handle);
 
 end%function

branches/atorf/RWTHMindstormsNXT/NXT_StopSoundPlayback.m

@@ -13 +13 @@
 %   Bluetooth |handle| (serial handle (PC) / file handle (Linux)).
 %
-%   If no Bluetooth |handle| is specified the default one (|BT_GetDefaultHandle|) is used.
+%   If no Bluetooth |handle| is specified the default one (|COM_GetDefaultHandle|) is used.
 %
 % For more details see the official LEGO Mindstorms communication protocol.
@@ -23 +23 @@
 %+   NXT_StopSoundPlayback(bt_handle);
 %
-% See also: NXT_PlaySoundFile, NXT_PlayTone, BT_GetDefaultHandle
+% See also: NXT_PlaySoundFile, NXT_PlayTone, COM_GetDefaultHandle
 %
 % Signature
@@ -50 +50 @@
 % check if bluetooth handle is given; if not use default one
 if nargin > 0
-    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
+    handle = varargin{1};
 else
-    handle = BT_GetDefaultHandle;
+    handle = COM_GetDefaultHandle;
 end%if
 
@@ -68 +64 @@
 
 %% Pack bluetooth packet
-packet = BT_CreatePacket(type, cmd, 'dontreply', content); 
+packet = COM_CreatePacket(type, cmd, 'dontreply', content); 
 textOut(sprintf('+ Stop sound playback...\n'));
 
 
 %% Send bluetooth packet
-BT_SendPacket(packet, handle);
+COM_SendPacket(packet, handle);
 
 end%function

branches/atorf/RWTHMindstormsNXT/private/name2commandbytes.m

@@ -39 +39 @@
 
 NXT__READ_IO_MAP            = [1; 148];  %#ok<NASGU> %hex2dec(['01'; '94']);
-
+NXT__WRITE_IO_MAP           = [1; 149];  %#ok<NASGU> %hex2dec(['01'; '95']);
 
 %% Direct commands