/ArduinoIO/ArduinoIO/arduino.m

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classdef arduino < handle

    

    % This class defines an "arduino" object (Version 2.3)

    % Giampiero Campa, Apr 2010, Copyright 2009 The MathWorks, Inc.

    

  properties (SetAccess=private,GetAccess=private)

        aser   % Serial Connection

        pins   % Pin Status Vector

        srvs   % Servo Status Vectord

        mspd   % Motor Speed Status

        sspd   % Servo Speed Status

        mots   % Motor Server Running on the Arduino Board

   end

    

    methods

        

        % constructor, connects to the board and creates an arduino object

        function a=arduino(comPort)

            

            % Add target directories and save the updated path

            addpath(fullfile(pwd));

            savepath

            

            % check nargin

            if nargin<1,

                comPort='DEMO';

                disp('Note: a DEMO connection will be created');

                disp('Use a the com port, e.g. ''COM5'' as input argument to connect to the real board');

            end

            

            % check port

            if ~ischar(comPort),

                error('The input argument must be a string, e.g. ''COM8'' ');

            end

            

            % check if we are already connected

            if isa(a.aser,'serial') && isvalid(a.aser) && strcmpi(get(a.aser,'Status'),'open'),

                disp(['It looks like Arduino is already connected to port ' comPort ]);

                disp('Delete the object to force disconnection');

                disp('before attempting a connection to a different port.');

                return;

            end

            

            % check whether serial port is currently used by MATLAB

            if ~isempty(instrfind({'Port'},{comPort})),

                disp(['The port ' comPort ' is already used by MATLAB']);

                disp(['If you are sure that Arduino is connected to ' comPort]);

                disp('then delete the object to disconnect and execute:');

                disp(['  delete(instrfind({''Port''},{''' comPort '''}))']);

                disp('to delete the port before attempting another connection');

                error(['Port ' comPort ' already used by MATLAB']);

            end

            

            % define serial object

            a.aser=serial(comPort);

            

            % connection

            if strcmpi(get(a.aser,'Port'),'DEMO'),

                % handle demo mode

                

                fprintf(1,'Demo mode connection ..');

                for i=1:4,

                    fprintf(1,'.');

                    pause(1);

                end

                fprintf(1,'\n');

                pause(1);

                

                % chk is 1 or 2 depending on the script running on the board

                chk=round(1+rand);

                

            else

                % actual connection

                

                % open port

                try

                    fopen(a.aser);

                catch ME,

                    disp(ME.message)

                    delete(a);

                    error(['Could not open port: ' comPort]);

                end

                

                % it takes several seconds before any operation could be attempted

                

                fprintf(1,'Attempting connection ..');

                for i=1:4,

                    fprintf(1,'.');

                    pause(1);

                end

                fprintf(1,'\n');

                

                % query script type

                fwrite(a.aser,[57 57],'uchar');

                chk=fscanf(a.aser,'%d');

                

                % exit if there was no answer

                if isempty(chk)

                    delete(a);

                    error('Connection unsuccessful, please make sure that the Arduino is powered on, running either adiosrv.pde or mororsrv.pde, and that the board is connected to the indicated serial port. You might also try to unplug and re-plug the USB cable before attempting a reconnection.');

                end

                

            end

            

            % check returned value

            if chk==1,

                disp('Basic I/O Script detected !');

            elseif chk==2,

                disp('Motor Shield Script detected !');

            else

                delete(a);

                error('Unknown Script. Please make sure that either adiosrv.pde or motorsrv.pde are running on the Arduino');

            end

            

            % sets a.mots flag

            a.mots=chk-1;

            

            % set a.aser tag

            a.aser.Tag='ok';

            

            % initialize pin vector (-1 is unassigned, 0 is input, 1 is output)

            a.pins=-1*ones(1,19);

            

            % initialize servo vector (-1 is unknown, 0 is detached, 1 is attached)

            a.srvs=0*ones(1,2);

            

            % initialize motor vector (0 to 255 is the speed)

            a.mspd=0*ones(1,4);

            

            % initialize stepper vector (0 to 255 is the speed)

            a.sspd=0*ones(1,2);

            

            % notify successful installation

            disp('Arduino successfully connected !');

            

        end % arduino

        

        % distructor, deletes the object

        function delete(a)

            

            % if it is a serial, valid and open then close it

            if isa(a.aser,'serial') && isvalid(a.aser) && strcmpi(get(a.aser,'Status'),'open'),

                if ~isempty(a.aser.Tag),

                    try

                        % trying to leave it in a known unharmful state

                        for i=2:19,

                            a.pinMode(i,'output');

                            a.digitalWrite(i,0);

                            a.pinMode(i,'input');

                        end

                    catch ME

                        % disp but proceed anyway

                        disp(ME.message);

                    end

                    

                end

                fclose(a.aser);

            end

            

            % if it's an object delete it

            if isobject(a.aser),

                delete(a.aser);

            end

            

            

        end % delete

        

        % disp, displays the object

        function disp(a) % display

            if isvalid(a),

                if isa(a.aser,'serial') && isvalid(a.aser),

                    disp(['<a href="matlab:help arduino">arduino</a> object connected to ' a.aser.port ' port']);

                    if a.mots==1,

                        disp('Motor Shield Server running on the arduino board');

                        disp(' ');

                        a.servoStatus

                        a.motorSpeed

                        a.stepperSpeed

                        disp(' ');

                        disp('Servo Methods: <a href="matlab:help servoStatus">servoStatus</a> <a href="matlab:help servoAttach">servoAttach</a> <a href="matlab:help servoDetach">servoDetach</a> <a href="matlab:help servoRead">servoRead</a> <a href="matlab:help servoWrite">servoWrite</a>');

                        disp('DC Motors and Stepper Methods: <a href="matlab:help motorSpeed">motorSpeed</a> <a href="matlab:help motorRun">motorRun</a> <a href="matlab:help stepperSpeed">stepperSpeed</a> <a href="matlab:help stepperStep">stepperStep</a>');

                    else

                        disp('IO Server running on the arduino board');

                        disp(' ');

                        a.pinMode

                        disp(' ');

                        disp('Pin IO Methods: <a href="matlab:help pinMode">pinMode</a> <a href="matlab:help digitalRead">digitalRead</a> <a href="matlab:help digitalWrite">digitalWrite</a> <a href="matlab:help analogRead">analogRead</a> <a href="matlab:help analogWrite">analogWrite</a>');

                    end

                    disp(' ');

                else

                    disp(['<a href="matlab:help arduino">arduino</a> object connected to an invalid serial port']);

                    disp('Please delete the arduino object');

                    disp(' ');

                end

            else

                    disp(['Invalid <a href="matlab:help arduino">arduino</a> object']);

                    disp('Please clear the object and instantiate another one');

                    disp(' ');

            end

        end

        

        % pin mode, changes pin mode

        function pinMode(a,pin,str)

            

            % a.pinMode(pin,str); specifies the pin mode of a digital pins.

            % The first argument before the function name, a, is the arduino object.

            % The first argument, pin, is the number of the digital pin (2 to 19).

            % The second argument, str, is a string that can be 'input' or 'output',

            % Called with one argument, as a.pin(pin) it returns the mode of

            % the digital pin, called without arguments, prints the mode of all the

            % digital pins. Note that the digital pins from 0 to 13 are located on

            % the upper right part of the board, while the digital pins from 14 to 19

            % are better known as "analog input" pins and are located in the lower

            % right corner of the board.

            %

            % Examples:

            % a.pinMode(11,'output') % sets digital pin #11 as output

            % a.pinMode(10,'input')  % sets digital pin #10 as input

            % val=a.pinMode(10);     % returns the status of digital pin #10

            % a.pinMode(5);          % prints the status of digital pin #5

            % a.pinMode;             % prints the status of all pins

            %

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin>3,

                error('This function cannot have more than 3 arguments, object, pin and str');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % if pin argument is there check it

            if nargin>1,

                errstr=a.checknum(pin,'pin number',2:19);

                if ~isempty(errstr), error(errstr); end

            end

            

            % if str argument is there check it

            if nargin>2,

                errstr=a.checkstr(str,'pin mode',{'input','output'});

                if ~isempty(errstr), error(errstr); end

            end

            

            % perform the requested action

            if nargin==3,

                

                % check a.aser for validity

                errstr=arduino.checkser(a.aser,'valid');

                if ~isempty(errstr), error(errstr); end

                

                %%%%%%%%%%%%%%%%%%%%%%%%% CHANGE PIN MODE %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

                

                % assign value

                if lower(str(1))=='o', val=1; else val=0; end

                

                if strcmpi(get(a.aser,'Port'),'DEMO'),

                    % handle demo mode here

                    

                    % average digital output delay

                    pause(0.0087);

                    

                else

                    % do the actual action here

                    

                    

                    % check a.aser for openness

                    errstr=arduino.checkser(a.aser,'open');

                    if ~isempty(errstr), error(errstr); end

                    

                    % send mode, pin and value

                    fwrite(a.aser,[48 97+pin 48+val],'uchar');

                    

                end

                

                % detach servo 1 or 2 if pins 10 or 9 are used

                if pin==10 || pin==9, a.servoDetach(11-pin); end

                

                % store 0 for input and 1 for output

                a.pins(pin)=val;

                

            elseif nargin==2,

                % print pin mode for the requested pin

                

                mode={'UNASSIGNED','set as INPUT','set as OUTPUT'};

                disp(['Digital Pin ' num2str(pin) ' is currently ' mode{2+a.pins(pin)}]);

                

            else

                % print pin mode for each pin

                

                mode={'UNASSIGNED','set as INPUT','set as OUTPUT'};

                for i=2:19;

                    disp(['Digital Pin ' num2str(i,'%02d') ' is currently ' mode{2+a.pins(i)}]);

                end

                

            end

            

        end % pinmode

        

        % digital read

        function val=digitalRead(a,pin)

            

            % val=a.digitalRead(pin); performs digital input on a given arduino pin.

            % The first argument before the function name, a, is the arduino object.

            % The argument pin, is the number of the digital pin (2 to 19)

            % where the digital input needs to be performed. Note that the digital pins

            % from 0 to 13 are located on the upper right part of the board, while the

            % digital pins from 14 to 19 are better known as "analog input" pins and

            % are located in the lower right corner of the board.

            %

            % Example:

            % val=a.digitalRead(4); % reads pin #4

            %

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin~=2,

                error('Function must have the "pin" argument');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % check pin

            errstr=arduino.checknum(pin,'pin number',2:19);

            if ~isempty(errstr), error(errstr); end

            

            % check a.aser for validity

            errstr=arduino.checkser(a.aser,'valid');

            if ~isempty(errstr), error(errstr); end

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% PERFORM DIGITAL INPUT %%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            if strcmpi(get(a.aser,'Port'),'DEMO'),

                % handle demo mode

                

                % average digital input delay

                pause(0.0247);

                

                % output 0 or 1 randomly

                val=round(rand);

                

            else

                

                % check a.aser for openness

                errstr=arduino.checkser(a.aser,'open');

                if ~isempty(errstr), error(errstr); end

                

                % send mode and pin

                fwrite(a.aser,[49 97+pin],'uchar');

                

                % get value

                val=fscanf(a.aser,'%d');

                

            end

            

        end % digitalread

        

        % digital write

        function digitalWrite(a,pin,val)

            

            % a.digitalWrite(pin,val); performs digital output on a given pin.

            % The first argument before the function name, a, is the arduino object.

            % The second argument, pin, is the number of the digital pin (2 to 19)

            % where the digital output needs to be performed.

            % The third argument, val, is the value (either 0 or 1) for the output

            % Note that the digital pins from 0 to 13 are located on the upper right part

            % of the board, while the digital pins from 14 to 19 are better known as

            % "analog input" pins and are located in the lower right corner of the board.

            %

            % Examples:

            % a.digitalWrite(13,1); % sets pin #13 high

            % a.digitalWrite(13,0); % sets pin #13 low

            %

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin~=3,

                error('Function must have the "pin" and "val" arguments');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % check pin

            errstr=arduino.checknum(pin,'pin number',2:19);

            if ~isempty(errstr), error(errstr); end

            

            % check val

            errstr=arduino.checknum(val,'value',0:1);

            if ~isempty(errstr), error(errstr); end

            

            % pin should be configured as output

            if a.pins(pin)~=1,

                warning('MATLAB:Arduino:digitalWrite',['If digital pin ' num2str(pin) ' is set as input, digital output takes place only after using a.pinMode(' num2str(pin) ',''output''); ']);

            end

            

            % check a.aser for validity

            errstr=arduino.checkser(a.aser,'valid');

            if ~isempty(errstr), error(errstr); end

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% PERFORM DIGITAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%%%%

            

            if strcmpi(get(a.aser,'Port'),'DEMO'),

                % handle demo mode

                

                % average digital output delay

                pause(0.0087);

                

            else

                

                % check a.aser for openness

                errstr=arduino.checkser(a.aser,'open');

                if ~isempty(errstr), error(errstr); end

                

                % send mode, pin and value

                fwrite(a.aser,[50 97+pin 48+val],'uchar');

                

            end

            

        end % digitalwrite

        

        % analog read

        function val=analogRead(a,pin)

            

            % val=a.analogRead(pin); Performs analog input on a given arduino pin.

            % The first argument before the function name, a, is the arduino object.

            % The second argument, pin, is the number of the analog input pin (0 to 5)

            % where the analog input needs to be performed. The returned value, val,

            % ranges from 0 to 1023, with 0 corresponding to an input voltage of 0 volts,

            % and 1023 to a value of 5 volts. Therefore the resolution is .0049 volts

            % (4.9 mV) per unit.

            % Note that the analog input pins 0 to 5 are also known as digital pins

            % from 14 to 19, and are located on the lower right corner of the board.

            % Specifically, analog input pin 0 corresponds to digital pin 14, and analog

            % input pin 5 corresponds to digital pin 19. Performing analog input does

            % not affect the digital state (high, low, digital input) of the pin.

            %

            % Example:

            % val=a.analogRead(0); % reads analog input pin # 0

            %

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin~=2,

                error('Function must have the "pin" argument');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % check pin

            errstr=arduino.checknum(pin,'analog input pin number',0:5);

            if ~isempty(errstr), error(errstr); end

            

            % check a.aser for validity

            errstr=arduino.checkser(a.aser,'valid');

            if ~isempty(errstr), error(errstr); end

            

            %%%%%%%%%%%%%%%%%%%%%%%%% PERFORM ANALOG INPUT %%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            if strcmpi(get(a.aser,'Port'),'DEMO'),

                % handle demo mode

                

                % average analog input delay

                pause(0.0267);

                

                % output a random value between 0 and 1023

                val=round(1023*rand);

                

            else

                

                % check a.aser for openness

                errstr=arduino.checkser(a.aser,'open');

                if ~isempty(errstr), error(errstr); end

                

                % send mode and pin

                fwrite(a.aser,[51 97+pin],'uchar');

                

                % get value

                val=fscanf(a.aser,'%d');

                

            end

            

        end % analogread

        

        % function analog write

        function analogWrite(a,pin,val)

            

            % a.analogWrite(pin,val); Performs analog output on a given arduino pin.

            % The first argument before the function name, a, is the arduino object.

            % The first argument, pin, is the number of the DIGITAL pin where the analog

            % (PWM) output needs to be performed. Allowed pins for AO are 3,5,6,9,10,11

            % The second argument, val, is the value from 0 to 255 for the level of

            % analog output. Note that the digital pins from 0 to 13 are located on the

            % upper right part of the board.

            %

            % Examples:

            % a.analogWrite(11,90); % sets pin #11 to 90/255

            % a.analogWrite(3,10); % sets pin #3 to 10/255

            %

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin~=3,

                error('Function must have the "pin" and "val" arguments');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % check pin

            errstr=arduino.checknum(pin,'pwm pin number',[3 5 6 9 10 11]);

            if ~isempty(errstr), error(errstr); end

            

            % check val

            errstr=arduino.checknum(val,'analog output level',0:255);

            if ~isempty(errstr), error(errstr); end

            

            % pin should be configured as output

            if a.pins(pin)~=1,

                warning('MATLAB:Arduino:analogWrite',['If digital pin ' num2str(pin) ' is set as input, pwm output takes place only after using a.pinMode(' num2str(pin) ',''output''); ']);

            end

            

            % check a.aser for validity

            errstr=arduino.checkser(a.aser,'valid');

            if ~isempty(errstr), error(errstr); end

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% PERFORM ANALOG OUTPUT %%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            if strcmpi(get(a.aser,'Port'),'DEMO'),

                % handle demo mode

                

                % average analog output delay

                pause(0.0088);

                

            else

                

                % check a.aser for openness

                errstr=arduino.checkser(a.aser,'open');

                if ~isempty(errstr), error(errstr); end

                

                % send mode, pin and value

                fwrite(a.aser,[52 97+pin val],'uchar');

                

            end

            

            

        end % analogwrite

        

        % servo attach

        function servoAttach(a,num)

            

            % a.servoAttach(num); attaches a servo to the corresponding pwm pin.

            % The first argument before the function name, a, is the arduino object.

            % The second argument, num, is the number of the servo, which can be either 1

            % (top servo, uses digital pin 10 for pwm), or 2 (bottom servo, uses digital

            % pin 9 for pwm). Returns Random results if motor shield is not connected.

            %

            % Example:

            % a.servoAttach(1); % attach servo #1

            %

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin~=2,

                error('Function must have the "num" argument');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % check servo number

            errstr=arduino.checknum(num,'servo number',[1 2]);

            if ~isempty(errstr), error(errstr); end

            

            % check a.aser for validity

            errstr=arduino.checkser(a.aser,'valid');

            if ~isempty(errstr), error(errstr); end

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ATTACH SERVO %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            if strcmpi(get(a.aser,'Port'),'DEMO') || a.mots==0,

                % handle demo mode

                

                % average digital output delay

                pause(0.0087);

                

            else

                

                % check a.aser for openness

                errstr=arduino.checkser(a.aser,'open');

                if ~isempty(errstr), error(errstr); end

                

                % send mode, num and value (1 for attach)

                fwrite(a.aser,[54 96+num 48+1],'uchar');

                

            end

            

            % store the servo statur

            a.srvs(num)=1;

            

            % update pin status to unassigned

            a.pins(11-num)=-1;

            

        end % servoattach

        

        % servo detach

        function servoDetach(a,num)

            

            % a.servoDetach(num); detaches a servo from its corresponding pwm pin.

            % The first argument before the function name, a, is the arduino object.

            % The second argument, num, is the number of the servo, which can be either 1

            % (top servo, uses digital pin 10 for pwm), or 2 (bottom servo, uses digital

            % pin 9 for pwm). Returns random results if motor shield is not connected.

            %

            % Examples:

            % a.servoDetach(1); % detach servo #1

            %

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin~=2,

                error('Function must have the "num" argument');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % check servo number

            errstr=arduino.checknum(num,'servo number',[1 2]);

            if ~isempty(errstr), error(errstr); end

            

            % check a.aser for validity

            errstr=arduino.checkser(a.aser,'valid');

            if ~isempty(errstr), error(errstr); end

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% DETACH SERVO %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            if strcmpi(get(a.aser,'Port'),'DEMO') || a.mots==0,

                % handle demo mode

                

                % average digital output delay

                pause(0.0087);

                

            else

                

                % check a.aser for openness

                errstr=arduino.checkser(a.aser,'open');

                if ~isempty(errstr), error(errstr); end

                

                % send mode, num and value (0 for detach)

                fwrite(a.aser,[54 96+num 48+0],'uchar');

                

            end

            

            a.srvs(num)=0;

            

        end % servodetach

        

        % servo status

        function val=servoStatus(a,num)

            

            % a.servoStatus(num); Reads the status of a servo (attached/detached)

            % The first argument before the function name, a, is the arduino object.

            % The second argument, num, is the number of the servo, which can be either 1

            % (top servo, uses digital pin 10 for pwm), or 2 (bottom servo,

            % uses digital pin 9 for pwm).

            % The returned value is either 1 (servo attached) or 0 (servo detached),

            % Called without output arguments, the function prints a string specifying

            % the status of the servo. Called without input arguments, the function

            % either returns the status vector or prints the status of each servo.

            % Returns Random results if motor shield is not connected.

            %

            % Examples:

            % val=a.servoStatus(1); % return the status of servo #1

            % a.servoStatus(1); % prints the status of servo #1

            % a.servoStatus; % prints the status of both servos

            %

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin>2,

                error('Function cannot have more than one argument (servo number) beyond the object name');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % with no arguments calls itself recursively for both servos

            if nargin==1,

                if nargout>0,

                    val(1)=a.servoStatus(1);

                    val(2)=a.servoStatus(2);

                    return

                else

                    a.servoStatus(1);

                    a.servoStatus(2);

                    return

                end

            end

            

            % check servo number

            errstr=arduino.checknum(num,'servo number',[1 2]);

            if ~isempty(errstr), error(errstr); end

            

            % check a.aser for validity

            errstr=arduino.checkser(a.aser,'valid');

            if ~isempty(errstr), error(errstr); end

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ASK SERVO STATUS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            if strcmpi(get(a.aser,'Port'),'DEMO') || a.mots==0,

                % handle demo mode

                

                % average digital input delay

                pause(0.0247);

                

                % output 0 or 1 randomly

                val=round(rand);

                

            else

                

                % check a.aser for openness

                errstr=arduino.checkser(a.aser,'open');

                if ~isempty(errstr), error(errstr); end

                

                % send mode and num

                fwrite(a.aser,[53 96+num],'uchar');

                

                % get value

                val=fscanf(a.aser,'%d');

                

            end

            

            a.srvs(num)=val;

            

            if nargout==0,

                str={'DETACHED','ATTACHED'};

                disp(['Servo ' num2str(num) ' is ' str{1+val}]);

                clear val

                return

            end

            

        end % servostatus

        

        % servo read

        function val=servoRead(a,num)

            

            % val=a.servoRead(num); reads the angle of a given servo.

            % The first argument before the function name, a, is the arduino object.

            % The second argument, num, is the number of the servo, which can be either

            % 1 (top servo, uses digital pin 10 for pwm), or 2 (bottom servo, uses

            % digital pin 9 for pwm). The returned value is the angle in degrees,

            % typically from 0 to 180. Returns Random results if motor shield is not

            % connected.

            %

            % Example:

            % val=a.servoRead(1); % reads angle from servo #1

            %

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin~=2,

                error('Function must have the servo number argument');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % check servo number

            errstr=arduino.checknum(num,'servo number',[1 2]);

            if ~isempty(errstr), error(errstr); end

            

            % check status

            if a.srvs(num)~=1,

                error(['Servo ' num2str(num) ' is not attached, please use a.servoAttach(' num2str(num) ') to attach it']);

            end

            

            % check a.aser for validity

            errstr=arduino.checkser(a.aser,'valid');

            if ~isempty(errstr), error(errstr); end

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% READ SERVO ANGLE %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            if strcmpi(get(a.aser,'Port'),'DEMO') || a.mots==0,

                % handle demo mode

                

                % average analog input delay

                pause(0.0267);

                

                % output a random value between 0 and 180

                val=round(180*rand);

                

            else

                

                % check a.aser for openness

                errstr=arduino.checkser(a.aser,'open');

                if ~isempty(errstr), error(errstr); end

                

                % send mode and num

                fwrite(a.aser,[55 96+num],'uchar');

                

                % get value

                val=fscanf(a.aser,'%d');

                

            end

            

        end % servoread

        

        % servo write

        function servoWrite(a,num,val)

            

            % a.servoWrite(num,val); writes an angle on a given servo.

            % The first argument before the function name, a, is the arduino object.

            % The second argument, num, is the number of the servo, which can be

            % either 1 (top servo, uses digital pin 10 for pwm), or 2 (bottom servo,

            % uses digital pin 9 for pwm). The third argument is the angle in degrees,

            % typically from 0 to 180. Returns Random results if motor shield is not

            % connected.

            %

            % Example:

            % a.servoWrite(1,45); % rotates servo #1 of 45 degrees

            %

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin~=3,

                error('Function must have the servo number and angle arguments');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % check servo number

            errstr=arduino.checknum(num,'servo number',[1 2]);

            if ~isempty(errstr), error(errstr); end

            

            % check angle value

            errstr=arduino.checknum(val,'angle',0:180);

            if ~isempty(errstr), error(errstr); end

            

            % check status

            if a.srvs(num)~=1,

                error(['Servo ' num2str(num) ' is not attached, please use a.servoAttach(' num2str(num) ') to attach it']);

            end

            

            % check a.aser for validity

            errstr=arduino.checkser(a.aser,'valid');

            if ~isempty(errstr), error(errstr); end

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% WRITE ANGLE TO SERVO %%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            if strcmpi(get(a.aser,'Port'),'DEMO') || a.mots==0,

                % handle demo mode

                

                % average analog output delay

                pause(0.0088);

                

            else

                

                % check a.aser for openness

                errstr=arduino.checkser(a.aser,'open');

                if ~isempty(errstr), error(errstr); end

                

                % send mode, num and value

                fwrite(a.aser,[56 96+num val],'uchar');

                

            end

            

        end % servowrite

        

        % motor speed

        function val=motorSpeed(a,num,val)

            

            % val=a.motorSpeed(num,val); sets the speed of a DC motor.

            % The first argument before the function name, a, is the arduino object.

            % The second argument, num, is the number of the motor, which can go

            % from 1 to 4 (the motor ports are numbered on the motor shield).

            % The third argument is the speed from 0 (stopped) to 255 (maximum), note

            % that depending on the motor speeds of at least 60 might be necessary

            % to actually run it. Called with one argument, as a.motorSpeed(num),

            % it returns the speed at which the given motor is set to run. If there

            % is no output argument it prints the speed of the motor.

            % Called without arguments, itprints the speed of each motor.

            % Note that you must use the command a.motorRun to actually run

            % the motor at the given speed, either forward or backwards.

            % Returns Random results if motor shield is not connected.

            %

            % Examples:

            % a.motorSpeed(4,200)      % sets speed of motor 4 as 200/255

            % val=a.motorSpeed(1);     % returns the speed of motor 1

            % a.motorSpeed(3);         % prints the speed of motor 3

            % a.motorSpeed;            % prints the speed of all motors

            %

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin>3,

                error('This function cannot have more than 3 arguments, arduino object, motor number and speed');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % if motor number is there check it

            if nargin>1,

                errstr=arduino.checknum(num,'motor number',1:4);

                if ~isempty(errstr), error(errstr); end

            end

            

            % if speed argument is there check it

            if nargin>2,

                errstr=arduino.checknum(val,'speed',0:255);

                if ~isempty(errstr), error(errstr); end

            end

            

            % perform the requested action

            if nargin==3,

                

                % check a.aser for validity

                errstr=arduino.checkser(a.aser,'valid');

                if ~isempty(errstr), error(errstr); end

                

                %%%%%%%%%%%%%%%%%%%%%%%%% SET MOTOR SPEED %%%%%%%%%%%%%%%%%%%%%%%%%%%%%

                

                if strcmpi(get(a.aser,'Port'),'DEMO') || a.mots==0,

                    % handle demo mode

                    

                    % average analog output delay

                    pause(0.0088);

                    

                else

                    

                    % check a.aser for openness

                    errstr=arduino.checkser(a.aser,'open');

                    if ~isempty(errstr), error(errstr); end

                    

                    % send mode, num and value

                    fwrite(a.aser,[65 48+num val],'uchar');

                    val=fscanf(a.aser,'%d');                    

                    

                end

                

                % store speed value in case it needs to be retrieved

                % a.mspd(num)=val;            

                a.mspd(num)=val;

                

                

                % clear val if is not needed as output

                if nargout==0,

                    clear val;

                end

                

            elseif nargin==2,

                

                if nargout==0,

                    % print speed value

                    disp(['The speed of motor number ' num2str(num) ' is set to: ' num2str(a.mspd(num)) ' over 252']);

                else

                    % return speed value

                    val=a.mspd(num);

                   

                end

                

            else

                

                if nargout==0,

                    % print speed value for each motor

                    for num=1:4,

                        disp(['The speed of motor number ' num2str(num) ' is set to: ' num2str(a.mspd(num)) ' over 257']);

                    end

                else

                    % return speed values

                    val=a.mspd(num);

                    

                end

                

            end

            

        end % motorspeed

        

        % motor run

        function motorRun(a,num,str)

            

            % a.motorRun(num,str); runs a given DC motor.

            % The first argument before the function name, a, is the arduino object.

            % The second argument, num, is the number of the motor, which can go

            % from 1 to 4 (the motor ports are numbered on the motor shield).

            % The third argument, str, is a string that can be 'forward' (runs the

            % motor forward) 'backward' (runs the motor backward) or 'release',

            % (stops the motor). Returns Random results if motor shield is not

            % connected.

            %

            % Examples:

            % a.motorRun(1,'forward');      % runs motor 1 forward

            % a.motorRun(3,'backward');     % runs motor 3 backward

            % a.motorRun(1,'release');      % release motor 1

            %

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin~=3,

                error('Function must have 3 arguments, object, motor number and direction');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % check motor number

            errstr=arduino.checknum(num,'motor number',1:4);

            if ~isempty(errstr), error(errstr); end

            

            % check direction

            errstr=arduino.checkstr(str,'direction',{'forward','backward','release'});

            if ~isempty(errstr), error(errstr); end

            

            % check a.aser for validity

            errstr=arduino.checkser(a.aser,'valid');

            if ~isempty(errstr), error(errstr); end

            

            

            %%%%%%%%%%%%%%%%%%%%%%%%% RUN THE MOTOR %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            if strcmpi(get(a.aser,'Port'),'DEMO') || a.mots ==0,

                % handle demo mode

                

                % average analog output delay

                pause(0.0088);

                

            else

                

                % check a.aser for openness

                errstr=arduino.checkser(a.aser,'open');

                if ~isempty(errstr), error(errstr); end

                

                % send mode, num and value

                fwrite(a.aser,[66 48+num abs(str(1))],'uchar');

                

            end

            

        end % motorrun

        

        % stepper speed

        function val=stepperSpeed(a,num,val)

            

            % val=a.stepperSpeed(num,val); sets the speed of a given stepper motor

            % The first argument before the function name, a, is the arduino object.

            % The second argument, num, is the number of the stepper motor,

            % which can go from 1 to 4 (the motor ports are numbered on the motor shield).

            % The third argument is the RPM speed from 1 (minimum) to 255 (maximum).

            % Called with one argument, as a.stepperSpeed(num), it returns the

            % speed at which the given motor is set to run. If there is no output

            % argument it prints the speed of the stepper motor.

            % Called without arguments, itprints the speed of each stepper motor.

            % Note that you must use the command a.stepperStep to actually run

            % the motor at the given speed, either forward or backwards (or release

            % it). Returns Random results if motor shield is not connected.

            %

            % Examples:

            % a.stepperSpeed(2,50)      % sets speed of stepper 2 as 50 rpm

            % val=a.stepperSpeed(1);     % returns the speed of stepper 1

            % a.stepperSpeed(2);         % prints the speed of stepper 2

            % a.stepperSpeed;            % prints the speed of both steppers

            %

            

            %%%%%%%%%%%%%%%%%%%%%%%%% ARGUMENT CHECKING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            

            % check nargin

            if nargin>3,

                error('This function cannot have more than 3 arguments, object, stepper number and speed');

            end

            

            % first argument must be the arduino variable

            if ~isa(a,'arduino'), error('The first argument must be an arduino variable'); end



            % if stepper number is there check it

            if nargin>1,

                errstr=arduino.checknum(num,'stepper number',1:2);

                if ~isempty(errstr), error(errstr); end

            end

            

            % if speed argument is there check it

            if nargin>2,

                errstr=arduino.checknum(val,'speed',0:255);

                if ~isempty(errstr), error(errstr); end

            end

            

            % perform the requested action

            if nargin==3,

                

                % check a.aser for validity

                errstr=arduino.checkser(a.aser,'valid');

                if ~isempty(errstr), error(errstr); end

                

                %%%%%%%%%%%%%%%%%%%%%%%%% PERFORM ANALOG OUTPUT %%%%%%%%%%%%%%%%%%%%%%%%%%%

                

                if strcmpi(get(a.aser,'Port'),'DEMO') || a.mots==0,

                    % handle demo mode

                    

                    % average analog output delay

                    pause(0.0088);

                    

                else

                    

                    % check a.aser for openness

                    errstr=arduino.checkser(a.aser,'open');

                    if ~isempty(errstr), error(errstr); end

                    

                    % send mode, num and value

                    fwrite(a.aser,[67 48+num val],'uchar');

                    

                end

                

                % store speed value in case it needs to be retrieved

                a.sspd(num)=val;

                

                % clear val if is not needed as output

                if nargout==0,

                    clear val;

                end

                

            elseif nargin==2,

                

                if nargout==0,

                    % print speed value

                    disp(['The speed of stepper number ' num2str(num) ' is set to: ' num2str(a.sspd(num)) ' over 255']);

                else

                    % return speed value

                    val=a.sspd(num);

                end

                

            else

                

                if nargout==0,

                    % print speed value for each stepper

                    for num=1:2,

                        disp(['The speed of stepper number ' num2str(num) ' is set to: ' num2str(a.sspd(num)) ' over 255']);

                    end

                else

                    % return speed values

                    val=a.sspd;

                end

                

            end

            

        end % stepperspeed

        

        % stepper step

        function stepperStep(a,num,dir,sty,steps)

            

            % a.stepperStep(num,dir,sty,steps); rotates a given stepper motor

            % The first argument before the function name, a, is the arduino object.

            % The second argument, num, is the number of the stepper motor, which is

            % either 1 or 2. The third argument, the direction, is a string that can

            % be 'forward' (runs the motor forward) 'backward' (runs the motor backward)

            % or 'release', (stops and releases the motor). Unless the direction is

            % 'release', then two more argument are needed: the fourth one is the style,

            % which is a string specifying the style of the motion, and can be 'single'

            % (only one coil activated at a time), 'double' (2 coils activated, gives

            % an higher torque and power consumption) 'inteleave', (alternates bet…