Changeset 659

Timestamp:

07/14/09 21:08:02 (4 years ago)

Author:

atorf

Message:

• Removed TurnRatio? from NXTMotor.m
• Fixed typo-bug in NXC_ResetErrorCorrection
• Added TODO to MotorControl20

Files:

• branches/atorf/NXC/MotorControl2/MotorControl20.nxc (modified) (1 diff)
• trunk/mfiles/@NXTMotor/NXTMotor.m (modified) (3 diffs)
• trunk/mfiles/@NXTMotor/display.m (modified) (2 diffs)
• trunk/mfiles/NXC_ResetErrorCorrection.m (modified) (1 diff)

branches/atorf/NXC/MotorControl2/MotorControl20.nxc

@@ -629 +629 @@
                 
                     //ResetErrorCorrection(port);
+                    //TODO check if motor is ready
                     MotorCmdSingleReset(port, power, angle, speedreg);
 

trunk/mfiles/@NXTMotor/NXTMotor.m

@@ -40 +40 @@
 %           once the |TachoLimit| (which must not be 0) is reached, forcing a hard
 %           stop at precisely the desired position (+/- some degrees)
-%
-% * |TurnRatio| - integer from -100 to 100 (default is 0) which shifts the load ratio
-%           between motors when driving synchronized (i.e. when adressing 2
-%           motors). 0 means equal load between motors, 50 means one motor
-%           is stopped with the other turning, and 100 should let both
-%           motors spin in opposite directions. Negative values from -100
-%           to 0 reverse the direction of turning. Use in conjunction with
-%           a positive value of |Power|.
-%          
 %
 %   For a list of valid methods, see the "See also" section below.
@@ -79 +70 @@
 % Signature
 %   Author: Aulis Telle, Alexander Behrens, Linus Atorf (see AUTHORS)
-%   Date: 2008/10/22
+%   Date: 2009/07/14
 %   Copyright: 2007-2008, RWTH Aachen University
 %
@@ -267 +258 @@
         %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-        function obj = set.TurnRatio(obj, val)
-            % TurnRatio must be a scalar, be numeric, be an integer and in the range [-100 100]
-            if isscalar(val) && isnumeric(val) && abs(val) <= 100 && all(rem(val,1) == 0)
-                obj.TurnRatio = val;
-            else
-                error('MATLAB:RWTHMindstormsNXT:InvalidTurnRatio',...
-                    'TurnRatio must be a numeric scalar and an integer in the range [-100, 100].');
-            end
-        end
+%         function obj = set.TurnRatio(obj, val)
+%             % TurnRatio must be a scalar, be numeric, be an integer and in the range [-100 100]
+%             if isscalar(val) && isnumeric(val) && abs(val) <= 100 && all(rem(val,1) == 0)
+%                 obj.TurnRatio = val;
+%             else
+%                 error('MATLAB:RWTHMindstormsNXT:InvalidTurnRatio',...
+%                     'TurnRatio must be a numeric scalar and an integer in the range [-100, 100].');
+%             end
+%         end
         %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
         

trunk/mfiles/@NXTMotor/display.m

@@ -43 +43 @@
         '         TachoLimit: '    infoStrTachoLimit(obj.TachoLimit)    '\n' ...
         ' ActionAtTachoLimit: '    infoStrActionAtTachoLimit( obj.ActionAtTachoLimit) '\n' ...
-        '          TurnRatio: '    infoStrTurnRatio(obj.TurnRatio)         '\n' ...
         '\n']);
 else
@@ -135 +134 @@
 end %% END FUNCTION INFOSTRACTIONATTACHOLIMIT
 
-function s = infoStrTurnRatio(b)
-    s = num2str(b);
-    if b == 0 
-        s = [s, '           (straight: same direction, same speed)'];
-    elseif abs(b) > 0 && abs(b) < 50
-        s = [s, blanks(12 - length(s)), '(same direction, different speeds)'];
-    elseif abs(b) == 50         
-        s = [s, blanks(12 - length(s)), '(one motor stopped, one rotating)'];
-    elseif abs(b) == 100                 
-        s = [s, blanks(12 - length(s)), '(opposite directions, same speed)'];
-    else
-        s = [s, blanks(12 - length(s)), '(opposite directions, different speeds)'];
-    end%ff
-    
-end %% END FUNCTION INFOSTRTURNRATIO
+% function s = infoStrTurnRatio(b)
+%     s = num2str(b);
+%     if b == 0 
+%         s = [s, '           (straight: same direction, same speed)'];
+%     elseif abs(b) > 0 && abs(b) < 50
+%         s = [s, blanks(12 - length(s)), '(same direction, different speeds)'];
+%     elseif abs(b) == 50         
+%         s = [s, blanks(12 - length(s)), '(one motor stopped, one rotating)'];
+%     elseif abs(b) == 100                 
+%         s = [s, blanks(12 - length(s)), '(opposite directions, same speed)'];
+%     else
+%         s = [s, blanks(12 - length(s)), '(opposite directions, different speeds)'];
+%     end%ff
+%     
+% end %% END FUNCTION INFOSTRTURNRATIO
 
 function s = infoStrPower(b)

trunk/mfiles/NXC_ResetErrorCorrection.m

@@ -162 +162 @@
     
     for j = 1 : length(port)
-        NXTMOTOR_State(Port(j)+1).LastMsgToNXCSentTime = tic();
+        NXTMOTOR_State(port(j)+1).LastMsgToNXCSentTime = tic();
     end%for