Connector improvements

Add stepperGotTarget property (fixes #14 (closed) ) and fix formatting of connection/disconnection messages.

MatLab/robotConnector.m

@@ -52,6 +52,9 @@ classdef robotConnector < handle
         stepperInterlock = NaN;           %Safety interlock enabled?
 
         stepperIsMoving = 0;              %Which axis (1/2/3) is moving? 0 if not moving.
+        stepperGotoTarget = NaN;          %Where is it going to? NaN if not moving, 0 if ZEROSEEK,
+                                          % otherwise it the position it is currently moving to,
+                                          %  along the axis indicated by stepperIsMoving.
 
         %Grabber status
         grabberPos       = NaN;
@@ -155,7 +158,7 @@ classdef robotConnector < handle
                 obj.TCPport = 23;
             end
             
-            disp(['Connecting to ', obj.address, ' on port ', num2str(obj.TCPport), '...']);
+            disp(strcat("Connecting to ", string(obj.address), " on port ", num2str(obj.TCPport), "..."));
             obj.TCPconn = tcpclient(obj.address,obj.TCPport, "Timeout", 2);
             disp('Connected!')
 
@@ -176,7 +179,7 @@ classdef robotConnector < handle
         
         function delete(obj)
             %DELETE Closes the TCP connection
-            disp(['Disconnecting from ', obj.address, ' on port ', num2str(obj.TCPport), '...']);
+            disp(strcat("Disconnecting from ", string(obj.address), " on port ", num2str(obj.TCPport), "..."));
             clear obj.TCPconn;
         end
         
@@ -703,15 +706,21 @@ classdef robotConnector < handle
 
                         lineSplitCMD = split(obj.lastCommand);
                         xyz = lineSplitCMD(3);
+
                         xyzID = find(obj.stepperXYZ==xyz);
                         if isempty(xyzID)
                             error(strcat("Axis name ", string(xyz), " not recognized"))
                         end
 
+                        if startsWith(obj.lastCommand, 'STEPPER ZEROSEEK ')
+                            obj.stepperGotoTarget = 0;
+                        end
+
                         lineSplit = split(line);
 
                         if startsWith(line, '< STEPPER GO FINISHED') % This is always the final output line
                             obj.stepperIsMoving = 0;
+                            obj.stepperGotoTarget = NaN;
                             obj.stepperPos(xyzID) = str2double(lineSplit(8));
 
                             if startsWith(obj.lastCommand, 'STEPPER ZEROSEEK ')
@@ -731,6 +740,9 @@ classdef robotConnector < handle
                                 obj.callbackFunction(obj,true,false,false);
                             end
 
+                        elseif line.startsWith("< STEPPER GOTO ")
+                            obj.stepperGotoTarget = str2double(lineSplit(5));
+
                         elseif line.startsWith("< STEPPER MOVING ")
                             obj.stepperIsMoving = xyzID;
                             if obj.callbackEnabled