From e66efbbe8df2dd4e7de0a1e9bd129cf92e00f92f Mon Sep 17 00:00:00 2001
From: vikle012 <viktor.leek@liu.se>
Date: Wed, 11 Sep 2019 13:57:14 +0200
Subject: Initializes repo.

---
 Kod/bilbana/IOFunctions/set_car_speed.m | 56 +++++++++++++++++++++++++++++++++
 1 file changed, 56 insertions(+)
 create mode 100644 Kod/bilbana/IOFunctions/set_car_speed.m

(limited to 'Kod/bilbana/IOFunctions/set_car_speed.m')

diff --git a/Kod/bilbana/IOFunctions/set_car_speed.m b/Kod/bilbana/IOFunctions/set_car_speed.m
new file mode 100644
index 0000000..3aab1db
--- /dev/null
+++ b/Kod/bilbana/IOFunctions/set_car_speed.m
@@ -0,0 +1,56 @@
+function [] = set_car_speed(track,speed)
+%SET_CAR_SPEED Sets the specified car (track) to a specified speed.
+%   Changes the duty cycle of counter 0 and 4 to change speed of car on
+%   track 1 and track 2 respectively. Valid values of the duty cycle are
+%   between 0 and 1, the input speed of the cars are defined as percent.
+%
+%   Tobias Lindell 2013-02-12.
+
+global mytaskh
+global lib
+
+switch nargin
+    case 2
+        % Check if _any_ counters been initilized, stop program if not
+        if isempty(mytaskh)
+            disp(['User needs to initialize counters for track ',num2str(track),' before setting car speed!'])
+            clearvars -global mytaskh lib
+            return
+        end
+        
+        % Setting duty cycle, with limits
+        speed = min(99, speed);
+        speed = max(0.1,speed);
+        duty_cycle = speed / 100;
+        
+        switch track
+            case 1
+                % Check if track 1 counter has been initialized, stop program if not
+                if isfield(mytaskh,'ctr_0')
+                    % Stop task (necessary to change duty cycle)
+                    calllib(lib,'DAQmxStopTask',mytaskh.ctr_0);
+                    % Set new duty cycle
+                    calllib(lib,'DAQmxSetCOPulseDutyCyc',mytaskh.ctr_0,'Dev1/ctr0',duty_cycle);
+                    % Restart task
+                    calllib(lib,'DAQmxStartTask',mytaskh.ctr_0);
+                else
+                    disp(['User needs to initialize counters for track ',num2str(track),' before setting car speed!'])
+                    return
+                end
+            case 2
+                if isfield(mytaskh,'ctr_4')
+                    calllib(lib,'DAQmxStopTask',mytaskh.ctr_4);
+                    calllib(lib,'DAQmxSetCOPulseDutyCyc',mytaskh.ctr_4,'Dev1/ctr4',duty_cycle);
+                    calllib(lib,'DAQmxStartTask',mytaskh.ctr_4);
+                else
+                    disp(['User needs to initialize counters for track ',num2str(track),' before setting car speed!'])
+                    return
+                end
+            otherwise
+                disp('Wrong track number sent to set_car_speed!')
+                return
+        end
+    otherwise
+        disp('Wrong number of arguments sent to set_car_speed(track,speed)! Should be 2!')
+end
+end
-- 
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