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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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