Changeset 248

Timestamp:

09/08/08 14:35:13 (5 years ago)

Author:

telle

Message:

Mostly bugfixes.

Location:

branches/telle/RWTHMindstormsNXT

Files:

• . (modified) (1 prop)
• @NXTmotor/read.m (modified) (1 diff)
• @NXTmotor/set.m (modified) (1 diff)
• @NXTmotor/stop.m (modified) (1 diff)
• @NXTmotorsettings/read.m (modified) (1 diff)
• @NXTmotorsettings/send.m (modified) (1 diff)
• @NXTmotorsettings/stop.m (modified) (2 diffs)
• GetMotorSettings.m (modified) (1 diff)
• SendMotorSettings.m (modified) (2 diffs)
• StopMotor.m (modified) (3 diffs)

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

@@ -14 +14 @@
 end
 
-data = NXT_GetOutputState(obj.port);
 
+
+settings = NXT_GetOutputState(obj.port);
+
+data.Port = char(double('A') + settings.Port);
+data.Power = settings.Power;
+if settings.ModeIsMOTORON
+    data.MotorOn = 'on';
+else
+    data.MotorOn = 'off';
+end
+if settings.ModeIsBRAKE
+    data.Brake = 'on';
+else
+    data.Brake = 'off';
+end
+data.RegulationMode = lower(settings.RegModeName);
+data.TurnRatio = settings.TurnRatio;
+data.RunState = lower(settings.RunStateName);
+data.TachoLimit = settings.TachoLimit;
+data.TachoCount = settings.TachoCount;
+data.BlockTachoCount = settings.BlockTachoCount;

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

@@ -194 +194 @@
 
             case 'TachoLimit'
-                if isscalar(val) && isnumeric(val)
+                if isscalar(val) && isnumeric(val) && val >= 0
                     obj.tachoLimit = val;
                 else
                     error('MotorSettingError:InvalidTachoLimit',...
-                        'TachoLimit must be a numeric scalar. Zero means run forever.');
+                        'TachoLimit must be a non-negative numeric scalar. Zero means run forever.');
                 end
             otherwise

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

@@ -21 +21 @@
 end
 
-if (ischar(withBrake) && strcmpi(withBrake, 'brake')) ...
-        || (withBrake ~= 0)
-    withBrake = 1;
+if ischar(withBrake)
+    if strcmpi(withBrake, 'brake') || strcmpi(withBrake, 'on')
+        withBrake = 1;
+    elseif strcmpi(withBrake, 'nobrake') || strcmpi(withBrake, 'off')
+        withBrake = 0;
+    else
+        error('RWTHMINDSTORMS:NXTmotor:InvalidArgument',...
+            'Invalid second argument to function NXTmotor/send.');
+    end
+elseif isnumeric(withBrake)
+    if (withBrake ~= 0)
+        withBrake = 1;
+    else
+        withBrake = 0;
+    end
+elseif islogical(withBrake)
+    if (withBrake == true)
+        withBrake = 1;
+    else
+        withBrake = 0;
+    end
+else
+    error('RWTHMINDSTORMS:NXTmotor:InvalidArgument',...
+        'Invalid second argument to function NXTmotor/send.');
 end
 
-NXT_SetOutputState(...
-    obj.port, ... % Port
-    0, ...           % Power
-    withBrake, ...   % IsMotorOn
-    1, ...           % IsBrake
-    'SPEED', ...     % RegModeName
-    0, ...           % TurnRatio
-    'RUNNING', ...   % RunStateName
-    0, ...           % TachoLimit
-    'dontreply'...   % ReplyMode
-    );
-
-    
+StopMotor(obj.port, withBrake);

branches/telle/RWTHMindstormsNXT/@NXTmotorsettings/read.m

@@ -16 +16 @@
 end
 
-for k = 1:length(data.motors)
+for k = 1:length(obj.motors)
     settings(k) = read(obj.motors(k));
 end

branches/telle/RWTHMindstormsNXT/@NXTmotorsettings/send.m

@@ -16 +16 @@
 end
 
+if nargout == 1
+    out = zeros(size(obj.motors));
+    for k = 1:length(obj.motors)
+        out(k) = send(obj.motors(k));
+    end
 
-out = zeros(size(obj.motors));
-for k = 1:length(obj.motors)
-    out(k) = send(obj.motors(k));
+    out = any(out);
+else
+    for k = 1:length(obj.motors)
+        send(obj.motors(k));
+    end
 end
-
-out = any(out);
+    

branches/telle/RWTHMindstormsNXT/@NXTmotorsettings/stop.m

@@ -23 +23 @@
 end
 
-if ~iscell(withBrake)
+if ischar(withBrake)
     withBrake = {withBrake};
 end
@@ -30 +30 @@
     withBrake = repmat(withBrake, size(obj.motors));
 elseif numel(withBrake) ~= numel(obj.motors)
-    error('MotorSettingsError:InvalidParameterSize',...
+    error('RWTHMINDSTORMS:NXTmotorsettings:InvalidParameterSize',...
         'Number of elements must be 1 or the number of motors.');
 end
 
-for k = 1:length(obj.motors)
-    stop(obj.motors(k), withBrake{k});
+if length(obj.motors) == 3 
+    if withBrake(1) == withBrake(2) && withBrake(1) == withBrake(3)
+        if iscell(withBrake)
+            StopMotor('all', withBrake{1});
+        else
+            StopMotor('all', withBrake(1));
+        end
+        return
+    end
 end
 
-
+if iscell(withBrake)
+    for k = 1:length(obj.motors)
+        stop(obj.motors(k), withBrake{k});
+    end
+else
+    for k = 1:length(obj.motors)
+        stop(obj.motors(k), withBrake(k));
+    end
+end
     

branches/telle/RWTHMindstormsNXT/GetMotorSettings.m

@@ -97 +97 @@
     out.SyncToMotor = -1;
 else % SYNC then... :-)
+    
+    % THIS IS LIKELY NOT TO BE CORRECT AS THE USER MAY HAVE MODIFIED
+    % THE MOTOR SETTINGS WITHOUT HAVING SENT THEM TO THE BRICK YET !!!!
+    
     % shouldnt be necessary but whatever
     NXTMOTOR_State(whatmotor + 1).SyncedToSpeed = false;

branches/telle/RWTHMindstormsNXT/SendMotorSettings.m

@@ -95 +95 @@
 
 
+%% One argument of type NXTmotor or NXTmotorsettings
+% If there is exactly one argument of type NXTmotor or NXTmotorsettings
+% just call the send function for this object
+
+if nargin == 1 && ...
+        (isa(f_port,'NXTmotor') || isa(f_port, 'NXTmotorsettings'))
+    send(f_port);
+    return
+end
+
+
 %% check given arguments
 if (nargin ~= 0) && (nargin ~= 7)
@@ -102 +113 @@
           'Type "help SendMotorSettings" or see documentation!']);
 end
+
+
 
 %% get handle & motorstate

branches/telle/RWTHMindstormsNXT/StopMotor.m

@@ -6 +6 @@
 %
 % Description
-%   StopMotor(port, mode) stops the motor connected to the given port. The value port can be
-%   addressed by the symbolic constants MOTOR_A, MOTOR_B, MOTOR_C and 'all' (all motor at at
-%   the same time) analog to the labeling on the NXT Brick. The argument mode can be equal to
-%   'off' which cuts off the electrical power to the specific motor, so called "COAST" mode. The
-%   option 'brake' will actively halt the motor at the current position (until the next command).
+%   StopMotor(port, mode) stops the motor connected to the given port. The
+%   value port can be addressed by a string representing the label of the
+%   port on the brick ('A', 'B', or 'C') or the index of the port starting
+%   with 0, i.e., 0, 1, or 2 corresponding to A, B, and C respectively. The
+%   index may also be given as a string, e.g., '1'. If all motors shall be
+%   stopped the string 'all' can be used for the first argument. 
+%   
+%   The argument mode can take the following values:
+%      'nobrake', 'off', 0: The electrical power to the specified motor is
+%                           simply disconnected, the so-called "COAST"
+%                           mode.
+%      'brake',   'on',  1: This will actively halt the motor at the
+%                           current position (until the next movement
+%                           command). 
 % 
 % Note:
-%   The value port equal to 'all' can be used to stopp all motors at the same time using only
-%   one single Bluetooth packet. After a StopMotor command the motor snychronization will be lost.
+%   The value port equal to 'all' can be used to stopp all motors at the
+%   same time using only one single Bluetooth packet. After a StopMotor
+%   command the motor snychronization will be lost. 
 %
-%   With mode equal to 'off', the motor will slowly stop spinning, but using 'brake' applies
-%   real force to the motor to stand still at the current position, just like a real brake. 
+%   With mode equal to 'off', the motor will slowly stop spinning, but
+%   using 'brake' applies real force to the motor to stand still at the
+%   current position, just like a real brake.  
 %   
-%   When calling StopMotor(..., 'off'), you also internally issue the commands
-%   SpeedRegulation('off') and SyncToMotor('off'), while using  'brake' will call
-%   SpeedRegulation('on') and SyncToMotor('off'). 
+%   When calling StopMotor(..., 'off'), internally the speed regulation 
+%   and motor synchronization are turned off, while using 'brake' will onle
+%   turn off synchronization but enable speed regulation. 
 %
 % Example
-%   SetMotor(MOTOR_B);
-%       SetPower(-55);
-%       SetAngleLimit(1200);
-%   SendMotorSettings();
+%   m = NXTmotor('A');
+%   m.Power = -55;
+%   m.TachoLimit = 1200;
 %
-%   WaitForMotor(MOTOR_A);
+%   m2 = NXTmotor('B');
+%   m2.Power = 60;
 %
-%   StopMotor(MOTOR_B, 'brake');
+%   send(m);
+%   send(m2);
 %
-% See also: WaitForMotor, SendMotorSettings, MOTOR_A, MOTOR_B, MOTOR_C
+%   wait(m);
+%  
+%   StopMotor('all', 'brake');
+%
+% See also: NXTmotor, NXTmotorsettings
 %
 % Signature
-%   Author: Linus Atorf, Alexander Behrens (see AUTHORS)
-%   Date: 2007/10/15
+%   Author: Aulis Telle, Linus Atorf, Alexander Behrens (see AUTHORS)
+%   Date: 2008/09/02
 %   Copyright: 2007-2008, RWTH Aachen University
 %
@@ -62 +78 @@
         whatmotor = 255;
     else
-        whatmotor = str2double(whatmotor);
+        switch lower(whatmotor)
+            case {'a', '0'}
+                whatmotor = 0;
+            case {'b', '1'}
+                whatmotor = 1;
+            case {'c', '2'}
+                whatmotor = 2;
+            otherwise
+                whatmotor = -1;
+        end%switch
     end%if
 end%if
+
+switch lower(brakemode)
+    case {'nobrake', 'off', 0, false}
+        brakemode = 'off';
+    case {'brake', 'on', 1, true}
+        brakemode = 'on';
+    otherwise
+        brakemode = 'off';
+        warning('MATLAB:RWTHMindstormsNXT:StopMotor:invalidBrakeMode', 'Invalid brakemode. Brakemode is switched to ''off''.');
+end%switch
 
 
 %% Check Parameter
 if (whatmotor < 0 || whatmotor > 2) && (whatmotor ~= 255)
-    error('MATLAB:RWTHMindstormsNXT:Motor:invalidPort', 'Input argument for motor port must be 0, 1 or 2 or ''all''.');
+    error('MATLAB:RWTHMindstormsNXT:Motor:invalidPort', 'Input argument for motor port must be ''A'', ''B'', ''C'', ''0'', ''1'', ''2'', 0, 1, 2 or ''all''.');
 end%if
 
 
-%% get default handle & motorstate
-h = COM_GetDefaultNXT();
-NXTMOTOR_State = h.NXTMOTOR_getState();
+%% Brake Mode
+if strcmpi(brakemode, 'on')
 
-%% reset regulation state
-h.NXTMOTOR_resetRegulationState(whatmotor);
+    % set to power 0 with speed regulation
+    NXT_SetOutputState(whatmotor, ...
+        0, ...      % power
+        true, ...   % motoron
+        true, ...   % brake
+        'SPEED', ...% regulation
+        0, ...      % turnratio
+        'RUNNING', ... % runstate
+        0, ...      % tacho limit
+        'dontreply'); % replymode    
 
 %% Turn Off Mode (Coast mode)
-if strcmpi(brakemode, 'off')
-    
-    
+else
+
     % basically turn electric power to motor off, COAST mode
     NXT_SetOutputState(whatmotor, ...
@@ -95 +136 @@
         'dontreply'); % replymode
   
+end%if
         
-%% Brake Mode
-elseif strcmpi(brakemode, 'brake')
-    
-    
-    % set speed regulation mode
-    if whatmotor == 255
-        NXTMOTOR_State(1).SyncedToSpeed = true;
-        NXTMOTOR_State(2).SyncedToSpeed = true;
-        NXTMOTOR_State(3).SyncedToSpeed = true;
-    else
-        NXTMOTOR_State(whatmotor+1).SyncedToSpeed = true;
-    end%if
-    
-    % set to power 0 with speed regulation
-    NXT_SetOutputState(whatmotor, ...
-        0, ...      % power
-        true, ...   % motoron
-        true, ...   % brake
-        'SPEED', ...% regulation
-        0, ...      % turnratio
-        'RUNNING', ... % runstate
-        0, ...      % tacho limit
-        'dontreply'); % replymode    
-
-
-%% Error    
-else
-    error('MATLAB:RWTHMindstormsNXT:Motor:invalidBrakeMode', ...
-         ['Input argument for brake mode must either be ''off'' (motor will be turned off) ' ...
-          'or ''brake'' (motor will be actively halted at speed 0)']); 
-end%if
-
-
-%% save motor state back to handle
-h.NXTMOTOR_setState(NXTMOTOR_State);
-
-
-
 end%function