Index: /trunk/mfiles/GetNXT2Color.m
===================================================================
--- /trunk/mfiles/GetNXT2Color.m (revision 904)
+++ /trunk/mfiles/GetNXT2Color.m (revision 904)
@@ -0,0 +1,48 @@
+function out = GetNXT2Color( f_sensorport, varargin )
+%GETNXT2COLOR Summary of this function goes here
+% Detailed explanation goes here
+
+%% check parameters
+
+ if nargin > 1
+ handle = varargin{1};
+ else
+ handle = COM_GetDefaultNXT;
+ end%if
+
+%% call NXT_GetInputValues
+
+ in = NXT_GetInputValues( f_sensorport, handle );
+
+%% check for valid date, re-request if necessary
+
+ startTime = clock();
+ timeOut = 0.1; % in seconds
+ % loop until valid
+ while (~in.Valid) && (etime(clock, startTime) < timeOut)
+ in = NXT_GetInputValues(f_sensorport, handle);
+ end%while
+
+ if strcmp(in.TypeName,'NO_SENSOR')
+ error('No sensor set up for that port')
+ end%if
+
+%% format output
+
+ if strcmp(in.TypeName, 'COLORFULL') && strcmp(in.ModeName,'RAWMODE')
+ colors = {'BLACK';'BLUE';'GREEN';'YELLOW';'RED';'WHITE'};
+ try
+ out = colors{ in.ScaledVal };
+ catch
+ out = 'UNKNOWN';
+ end%try
+ else
+ if strcmp(in.ModeName,'RAWMODE') && ( strcmp(in.TypeName,'COLORRED') || strcmp(in.TypeName,'COLORGREEN') || strcmp(in.TypeName,'COLORBLUE') )
+ out = floor( in.ScaledVal / 1024 * 100 );
+ else
+ error('Invalid type/mode combination. Try using NXT_GetInputValues.')
+ end%if
+ end
+
+end
+
Index: /trunk/mfiles/OpenNXT2Color.m
===================================================================
--- /trunk/mfiles/OpenNXT2Color.m (revision 904)
+++ /trunk/mfiles/OpenNXT2Color.m (revision 904)
@@ -0,0 +1,39 @@
+function OpenNXT2Color(port, type, varargin)
+%OPENCOLOR Summary of this function goes here
+% Detailed explanation goes here
+
+%% check parameters
+
+ % check if handle is given; if not use default one
+ if nargin > 2
+ handle = varargin{1};
+ else
+ handle = COM_GetDefaultNXT;
+ end%if
+
+ % also accept strings as input
+ if ischar(port)
+ port = str2double(port);
+ end%if
+
+%% check and set mode
+
+ sensormode = 'RAWMODE';
+ if strcmp(type, 'LIGHTRED') || strcmp(type, 'LIGHT')
+ sensortype = 'COLORRED';
+ elseif strcmp(type, 'LIGHTGREEN')
+ sensortype = 'COLORGREEN';
+ elseif strcmp(type, 'LIGHTBLUE')
+ sensortype = 'COLORBLUE';
+ elseif strcmp(type, 'COLOR')
+ sensortype = 'COLORFULL';
+ else
+ error('Invalid mode. Must be LIGHT, LIGHTRED, LIGHTGREEN, LIGHTBLUE or COLOR.')
+ end%if
+
+%% call NXT_SetInputMode function
+
+ NXT_SetInputMode( port, sensortype, sensormode, 'dontreply', handle );
+
+end%function
+
Index: /trunk/mfiles/GetColor.m
===================================================================
--- /trunk/mfiles/GetColor.m (revision 902)
+++ /trunk/mfiles/GetColor.m (revision 904)
@@ -66,4 +66,10 @@
% specified, the default handle will be used (call |COM_SetDefaultNXT| to
% set one).
+%
+% Limitations
+% It's by design that the white LED of the Color sensors cannot be turned
+% off by calling |CloseSensor|. It's always on when the sensor is
+% connected. The V2 hardware version of the sensor performs significantly
+% better than the V1 version.
%
% Example
Index: /trunk/mfiles/GetEOPD.m
===================================================================
--- /trunk/mfiles/GetEOPD.m (revision 904)
+++ /trunk/mfiles/GetEOPD.m (revision 904)
@@ -0,0 +1,121 @@
+function [calcedDist rawVal] = GetEOPD(port, handle)
+% Reads the current value of the HiTechnic EOPD sensor
+%
+% Syntax
+% ||
+%
+% ||
+%
+% Description
+% |angularVelocity = GetGyro(port)| returns the current rotational speed detected by
+% the HiTechnic Gyroscopic sensor. Maximum range is from -360 to 360 degrees per second
+% (according to HiTechnic documentation), however greater values have
+% been observed. Returned values are accurate to +/- 1 degree.
+%
+% Integration over time gives the rotational position (in degrees). Tests give quite good
+% results. The given port number specifies the connection port. The value port can be
+% addressed by the symbolic constants |SENSOR_1|, |SENSOR_2|, |SENSOR_3| and |SENSOR_4| analog to
+% the labeling on the NXT Brick.
+%
+% Before using this function, the EOPD sensor must be initialized using |OpenEOPD|
+% and should be calibrated using |CalibrateEOPD|. Otherwise, only raw
+% values will be usable.
+%
+% The last optional argument can be a valid NXT handle. If none is
+% specified, the default handle will be used (call |COM_SetDefaultNXT| to
+% set one).
+%
+% Example
+%+ OpenEOPD(SENSOR_2);
+%+ %todo
+%+
+%+ CloseSensor(SENSOR_2);
+%
+% See also: OpenEOPD, CalibrateEOPD, CloseSensor, NXT_SetInputMode, NXT_GetInputValues
+%
+% Signature
+% Author: Linus Atorf (see AUTHORS)
+% Date: 2010/09/17
+% Copyright: 2007-2010, RWTH Aachen University
+%
+;
+% ***********************************************************************************************
+% * This file is part of the RWTH - Mindstorms NXT Toolbox. *
+% * *
+% * The RWTH - Mindstorms NXT Toolbox is free software: you can redistribute it and/or modify *
+% * it under the terms of the GNU General Public License as published by the Free Software *
+% * Foundation, either version 3 of the License, or (at your option) any later version. *
+% * *
+% * The RWTH - Mindstorms NXT Toolbox is distributed in the hope that it will be useful, *
+% * but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS *
+% * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. *
+% * *
+% * You should have received a copy of the GNU General Public License along with the *
+% * RWTH - Mindstorms NXT Toolbox. If not, see . *
+% ***********************************************************************************************
+
+
+
+% see private/createEmptyHandleStruct for hardcoded DEFAULT OFFSET VALUES
+
+
+%% Parameter check
+
+ % NXT handle given?
+ if ~exist('handle', 'var')
+ handle = COM_GetDefaultNXT();
+ end
+
+ % we have to check port number here as an exception (we usually don't
+ % do it, as it gets checked by NXT_ "lower level" functions later on
+ % anyway), because we use port as an index in handle.GyroSensorOffset()
+
+ % except strings as input
+ if ischar(port)
+ port = double(port);
+ end%if
+ if port < 0 || port > 3
+ error('MATLAB:RWTHMindstormsNXT:Sensor:invalidPort', 'NXT InputPort must be between 0 and 3 (use constants 0SENSOR_1 to SENSOR_4)', port);
+ end%if
+
+%% Obtain EOPD calibration
+
+ % save to use the port now...
+ tmp = handle.GyroSensorOffset(port);
+ % tmp(1) = offset, tmp(2) = bool initialized
+ if ~tmp(2)
+ warning('MATLAB:RWTHMindstormsNXT:Sensor:gyroNotCalibrated', 'The HiTechnic Gyro sensor on this port has not been calibrated yet. Use CalibrateGyro() after OpenGyro() or disable this warning by calling warning(''off'', ''MATLAB:RWTHMindstormsNXT:Sensor:gyroNotCalibrated'')');
+ end%if
+ offset = tmp(1);
+
+%% Call NXT_GetInputValues function
+ in = NXT_GetInputValues(port, handle);
+
+%% Check valid-flag, re-request data if necessary
+ if ~in.Valid
+ % init timeout-counter
+ startTime = clock();
+ timeOut = 0.5; % in seconds
+ % loop until valid
+ %invalidCountGetGyro = 0;
+ while (~in.Valid) && (etime(clock, startTime) < timeOut)
+ in = NXT_GetInputValues(port, handle);
+ %invalidCountGetGyro = invalidCountGetGyro + 1;
+ end%while
+ %invalidCountGetGyro
+ % check if everything is ok now...
+ if ~in.Valid
+ warning('MATLAB:RWTHMindstormsNXT:Sensor:invalidData', ...
+ ['Returned sensor data marked invalid! ' ...
+ 'Make sure the sensor is properly connected and configured to a supported mode. ' ...
+ 'Disable this warning by calling warning(''off'', ''MATLAB:RWTHMindstormsNXT:Sensor:invalidData'')']);
+ end%if
+ end%if
+
+
+%% Finally, return gyro data after offset substraction
+ % do stuff here
+ angularVelocity = double(in.RawADVal);
+
+
+end%function
Index: /trunk/mfiles/OpenColor.m
===================================================================
--- /trunk/mfiles/OpenColor.m (revision 902)
+++ /trunk/mfiles/OpenColor.m (revision 904)
@@ -23,4 +23,11 @@
%
%
+% Limitations
+% It's by design that the white LED of the Color sensors cannot be turned
+% off by calling |CloseSensor|. It's always on when the sensor is
+% connected. The V2 hardware version of the sensor performs significantly
+% better than the V1 version.
+%
+%
% Examples
%+ OpenColor(SENSOR_2);
@@ -28,5 +35,5 @@
%+ CloseSensor(SENSOR_2);
%
-% See also: GetColor, CloseSensor, COM_ReadI2C, NXT_LSGetStatus, NXT_LSRead
+% See also: GetColor, CloseSensor, OpenColorNXT2, GetColorNXT2, COM_ReadI2C
%
% Signature
Index: /trunk/mfiles/OpenEOPD.m
===================================================================
--- /trunk/mfiles/OpenEOPD.m (revision 904)
+++ /trunk/mfiles/OpenEOPD.m (revision 904)
@@ -0,0 +1,98 @@
+function OpenEOPD(port, range, handle)
+% Initializes the HiTechnic EOPD sensor, sets correct sensor mode
+%
+% Syntax
+% |OpenEOPD(port, range)|
+%
+% |OpenEOPD(port, range, handle)|
+%
+% Description
+% |OpenEOPD(port, range)| initializes the HiTechnic EOPD sensor on the specified sensor
+% port. This sensor can be used to accurately detect objects and small
+% changes in distance to a target. It works by measuring the light
+% returned from its own light source, so it can also be used to detect
+% the "shinyness" and color of a surface.
+%
+% |range| can be set to either |'SHORT'|, which covers a range of about
+% 10cm, or it can be set to |'LONG'|, which enables increased sensitivity
+% for up to 20cm.
+%
+% The value |port| can be addressed by the symbolic constants
+% |SENSOR_1| , |SENSOR_2|, |SENSOR_3| and |SENSOR_4| analog to the labeling on the NXT Brick.
+%
+% Before the sensor can be used, |CalibrateEOPD| should be called,
+% otherwise only raw values will be usable.
+%
+% The last optional argument can be a valid NXT handle. If none is
+% specified, the default handle will be used (call |COM_SetDefaultNXT| to
+% set one).
+%
+% Note:
+% For more details on calibration, see help text and examples of
+% |CalibrateEOPD|.
+%
+% Since each EOPD sensor uses a slightly different pulse frequency for
+% the LED, multiple sensor can be used at once without influencing each
+% other.
+%
+% Examples
+%+ OpenEOPD(SENSOR_2);
+%+ %todo!
+%+
+%+ CloseSensor(SENSOR_2);
+%
+% See also: CalibrateEOPD, GetEOPD, CloseSensor, NXT_SetInputMode, NXT_GetInputValues
+%
+% Signature
+% Author: Linus Atorf (see AUTHORS)
+% Date: 2009/09/17
+% Copyright: 2007-2010, RWTH Aachen University
+%
+;
+% ***********************************************************************************************
+% * This file is part of the RWTH - Mindstorms NXT Toolbox. *
+% * *
+% * The RWTH - Mindstorms NXT Toolbox is free software: you can redistribute it and/or modify *
+% * it under the terms of the GNU General Public License as published by the Free Software *
+% * Foundation, either version 3 of the License, or (at your option) any later version. *
+% * *
+% * The RWTH - Mindstorms NXT Toolbox is distributed in the hope that it will be useful, *
+% * but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS *
+% * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. *
+% * *
+% * You should have received a copy of the GNU General Public License along with the *
+% * RWTH - Mindstorms NXT Toolbox. If not, see . *
+% ***********************************************************************************************
+
+
+% see private/createEmptyHandleStruct for hardcoded DEFAULT OFFSET VALUES
+
+
+%% Parameter check
+
+ % NXT handle given?
+ if ~exist('handle', 'var')
+ handle = COM_GetDefaultNXT();
+ end
+
+ % also accept strings as input
+ if ischar(port)
+ port = str2double(port);
+ end%if
+
+ if ~strcmpi(range, 'SHORT') && ~strcmpi(range, 'LONG')
+ error('MATLAB:RWTHMindstormsNXT:Sensor:invalidMode', 'EOPD sensor range has to be ''SHORT'' or ''LONG''!');
+ end
+
+ if strcmpi(range, 'SHORT')
+ type = 'LIGHT_INACTIVE';
+ else
+ type = 'LIGHT_ACTIVE';
+ end%if
+
+
+ NXT_SetInputMode(port , type, 'RAWMODE', 'dontreply', handle);
+ % give sensor some bootup time
+ pause(0.1);
+
+end%function