Changeset 221 for branches/telle/RWTHMindstormsNXT/@NXTmotor/NXTmotor.m

Timestamp:

07/25/08 14:06:27 (5 years ago)

Author:

telle

Message:

NXTmotor.m:

• FIX: When setting regulationMode, data.power was set.
• When called with another NXTmotor object as first argument the object was just copied, thus the resulting object operated on the same data as the source object. This is not the intended behavior. Now a new set of data is created with the values of the source object, i.e., we then have two completely independent objects.

Files:

• branches/telle/RWTHMindstormsNXT/@NXTmotor/NXTmotor.m (modified) (2 diffs)

branches/telle/RWTHMindstormsNXT/@NXTmotor/NXTmotor.m

@@ -31 +31 @@
 % Author: Aulis Telle, IND, RWTH Aachen
 
+data = [];
 
 if nargin > 0 && isa(varargin{1}, 'NXTmotor')
-    obj = varargin{1};
-    return;
+    tmp = varargin{1};
+    data = tmp.data();
+else
+    port = 0;
+    if nargin > 0
+        val = varargin{1};
+        if isscalar(val) && isnumeric(val) && val >= 0 && val <= 2
+            port = val;
+        elseif ischar(val)
+            switch lower(val)
+                case 'a'
+                    port = 0;
+                case 'b'
+                    port = 1;
+                case 'c'
+                    port = 2;
+                otherwise
+                    error('MotorSettingError:InvalidPort',...
+                        'Port may be one of ''A'', ''B'', or ''C''.');
+            end
+        else
+            error('MotorSettingError:InvalidPort',...
+                'Port may be one of ''A'', ''B'', or ''C''.');
+        end
+    end
+
+    data.port           = port;
+    data.power          = 0;
+    data.mode.motorOn   = 1;
+    data.mode.brake     = 1;
+    data.regulationMode = 'IDLE';
+    data.turnRatio      = 0;
+    data.runState       = 'RUNNING';
+    data.tachoLimit     = 0;
 end
-
-port = 0;
-if nargin > 0 
-    val = varargin{1};
-    if isscalar(val) && isnumeric(val) && val >= 0 && val <= 2
-        port = val;
-    elseif ischar(val)
-        switch lower(val)
-            case 'a'
-                port = 0;
-            case 'b'
-                port = 1;
-            case 'c'
-                port = 2;
-            otherwise
-                error('MotorSettingError:InvalidPort',...
-                    'Port may be one of ''A'', ''B'', or ''C''.');
-        end
-    else
-        error('MotorSettingError:InvalidPort',...
-            'Port may be one of ''A'', ''B'', or ''C''.');
-    end
-end
-
-data.port           = port;
-data.power          = 0;
-data.mode.motorOn   = 1;
-data.mode.brake     = 1;
-data.regulationMode = 'IDLE';
-data.turnRatio      = 0;
-data.runState       = 'RUNNING';
-data.tachoLimit     = 0;
-
 
 
@@ -105 +105 @@
     
             case {'regulationMode'}
-                data.power = varargin{2};
+                data.regulationMode = varargin{2};
     
             case {'turnRatio'}