www.gusucode.com > Sphero Connectivity Package 程序工具箱matlab源码 > Sphero Connectivity Package/examples/sphero_getting_started.m
%% Getting Started with Sphero Connectivity Package
% This example shows how the Sphero Connectivity Package can be used to
% connect to a Sphero device and perform basic operations on the hardware,
% such as change the LED color, calibrate the orientation of the robot and
% move it in a particular direction.
%%
% <matlab:edit('sphero_getting_started') Open this example>
%% Introduction
% The Sphero Connectivity Package enables us to communicate with a
% Sphero device remotely from a computer running MATLAB(R). The package
% includes command line interface to control the robotic ball.
%
% In this example we will learn how to create a *sphero* object to connect
% to the Sphero device from within MATLAB(R). We will examine the properties
% and methods of this object to control the robot and its peripherals.
%% Required Hardware
% To run this example, the following hardware is required:
%%
% * Sphero 2.0
% * Computer which is Bluetooth-capable, or a Bluetooth dongle
%
%% Setup hardware
% In order to connect to the Sphero, first make sure that
% the Sphero is awake and ready for connection. The steps to set
% up the Sphero for connection can also be found in the readme.txt file
% as well as in the Quick Start Guide that comes with the Sphero.
%%
% Note that in general the following steps need to be done only the first
% time when you unpack the sphero and then once in a while (specifically
% steps 1 to 3) when the battery is low and needs to be recharged.
%%
% <html>
% <ol type="1">
% <li> Connect the Charger to a wall socket</li>
% <li> Place the Sphero in the charger with its heavy part at the
% bottom.</li>
% <li> Remove the Sphero from the charger after it lights up after a few
% seconds. It will be asleep at after it is taken out from the charger</li>
% <li>Double tap (ver 2.0) or shake (ver 1.0) the Sphero with your fingers to wake it up</li>
% <li>The Sphero blinks 3 unique colors until it is connected to another
% device. Sphero's Bluetooth name will contain the initials of the 3 unique
% colors it is blinking with. The Sphero's Bluetooth name could be useful
% later in case you have several Spero devices and want to connect to a specific one.
% <br> R = RED
% <br> B = BLUE
% <br> G = GREEN
% <br> Y = YELLOW
% <br> O = ORANGE
% <br> P = PURPLE
% <br> W = WHITE
% <li> Pair the Sphero device with your phone, and launch the Sphero app.
% This would automatically update the firmware on the device </li>
% <li> Disconnect the Sphero device from your phone by closing the Sphero
% app. Then access the phone Bluetooth settings, select the sphero among
% the Bluetooth devices, and select "forget this device". This prevents the
% sphero from automatically pairing up with the phone later. </li>
% <li> Turn on Bluetooth on your computer, and pair the Sphero to it,
% following the instructions mentioned in one of the following web pages.
% If a prompt shows up to compare the pairing codes between your computer
% and the Bluetooth device, click on 'Yes' to 'Accept' the pairing code.
% <br><a
% href="http://windows.microsoft.com/en-us/windows7/add-a-bluetooth-enabled-device-to-your-computer">
% Windows 7</a>
% <br><a href="http://support.apple.com/kb/ht1153"> Mac </a> (Please note
% that Bluetooth interface is supported only for Mac OS 10.7 and earlier)
% </ol>
% </html>
%
%% Creating a sphero object (if it does not already exist)
% Once the sphero is charged and paired with the computer, and the package
% is installed, then as soon as the sphero is woken up (which can be done
% by either shaking it (ver 1.0) or double tapping it (ver 2.0), it can be
% directly accessed from MATLAB(R) as shown below:
if ~exist('sph','var'),
sph = sphero(); % Create a Sphero object
created=1; % this is so we remember to delete it later
end
% make sure the object is connected
connect(sph);
%%
% The sph is a handle to a sphero object. While creating the sph object,
% MATLAB(R) searches for the paired sphero devices and prompts the user to
% select one for connection. It then opens the Bluetooth connection with
% the Sphero.
%%
% If you face any issues creating the sphero object, please
% refer to the <matlab:showdemo('sphero_troubleshoot_connection') Troubleshooting Connection Issues with Sphero> page.
%
%%
% The properties of the sphero object show information such as the status of the
% connection and Bluetooth name of the connected device. It also has properties
% that can be used to modify the color of the LED on the Sphero,
% the brightness of the back LED, timeouts for motion, response and
% inactivity among other things.
%
%%
% <html><a id = "simple"></a></html>
%% Perform simple operations on Sphero
% The various methods of the sphero object can be used to perform different
% operations. The status of the Bluetooth connection can be checked by
% using the 'Status' property of the object:
s = sph.Status
%%
% We can also check whether the Sphero is able to receive and respond to
% messages by using the following command:
result = ping(sph);
% interrupt the example if ping was not successful
if ~result,
disp('Example aborted due to unsuccessful ping');
return,
end
%%
% If you receive an error when running these commands, please
% refer to the <matlab:showdemo('sphero_troubleshoot_connection')
% Troubleshooting Connection Issues with Sphero> page.
%%
% The color of the LED on the Sphero, and the brightness of the back LED
% can be changed by using the appropriate properties of the object
sph.Color = 'r'; % Change color of LED to red
sph.BackLEDBrightness = 255; %255 sets it to maximum brightness
%%
% <html> The back LED of the Sphero indicates the back of the Sphero. We will
% learn more about this in the <a href = "#move">Move Sphero </a>
% section.
% </html>
%
%%
sph.Color = [127 127 127]; % A custom color can also be provided for the LED by specifying RGB values
%%
% <html><a id = "move"></a></html>
%% Move Sphero
% The sphero object provides basic commands for moving the Sphero. But
% before we start moving it, we need to make sure that the Sphero is
% oriented in the correct direction.
%%
% <html>
% The calibrate method can be used to calibrate the orientation of the
% Sphero. As mentioned in the <a href = "#simple">Perform simple operations
% on Sphero</a> section, the back LED indicates the back of the robot. Thus
% the y-axis, 0 angle or the front of the robot is indicated by the
% direction opposite to the back LED.
% </html>
%%
% Thus we would need to calibrate the orientation of the robot so that its
% back is oriented towards you. The *calibrate* command might have to be used
% multiple times in order to fine tune and calibrate the robot's
% orientation
sph.BackLEDBrightness = 255; % turn on the back LED before we start calibrating the orientation of the robot
disp('Calibrating');
calibrate(sph, 60); % Observe that the sphero is going to rotate by 60 degrees and reset its orientation.
% Run this command again with a different value for the angle if the back
% of the robot is not oriented towards you at present.
%%
% Once the robot is orientated properly, we can move it along a particular
% direction. Please note that all the 'angle' values that the following
% commands use are the angles from the original calibrated orientation of
% the robot
speed = 70;
angle = 0;
disp('Rolling');
roll(sph, speed, angle);
pause(0.5); % Wait for half a seconds and then brake the Sphero
brake(sph);
%%
%Turn it by 180 degrees
roll(sph, speed, 180);
pause(0.5); % Wait for half a seconds and then brake the Sphero
brake(sph);
%%
% For all the aforementioned commands, we can turn on handshaking to make
% sure that the sphero is receiving and responding to the commands that are
% being sent to it
sph.Handshake = 1;
%%
% You will notice that the Sphero rolls in the particular direction for a
% small amount of time and then it stops automatically. This is due to the
% MotionTimeout property of the object. The robot keeps moving until the
% time in seconds that is specified by this property
sph.MotionTimeout = 3; % Set the timeout for motion to 3 seconds
roll(sph, speed, angle);
pause(1); % Wait for 1 second and then brake the Sphero
brake(sph);
%%
% There are other move commands such as *boost* or *rawMotor* which can be
% used to move the sphero with high speed and provide raw motor commands
% to control the speed of the motors respectively
%% Read Sensor Data
% To read the data of a set of sensors from the Sphero, execute the command
% similar to the following.
disp('Reading Sensor Data');
[accX, accY, distX, distY] = readSensor(sph, {'accelX', 'accelY', 'distX', 'distY'});
%%
% In order to read the value of a set of sensors at a particular rate, and
% save it to a MAT file, use the following command. By default, the sensor
% data is saved to log.mat
disp('Logging Sensors');
%Log accelerometer X and Y data at 1Hz, 1 frame per packet, 10 packets
logSensors(sph, 1, 1, 10, 'sensorname', {'accelX', 'accelY'});
% wait 5 seconds to illustrate sensor logging
pause(5);
% interrupt the sensor polling opened by the logSensors function
interruptSensorPolling(sph);
%% Disconnect or Make the Sphero go to Sleep
% We can disconnect from the Sphero by using the *disconnect* command. It
% is possible to reconnect to it again by using the *connect* command.
% If a different Sphero device name is specified as an input argument to
% the *connect* command, it will try to connect to the new device instead
% of the previous one.
% get the device name
devname = sph.DeviceName;
% disconnect
disp('Disconnecting Sphero');
disconnect(sph);
% wait a couple of seconds before reconnecting
pause(1);
disp('Reconnecting Sphero');
connect(sph, devname); % or, for example: connect(sph,'Sphero-RGR;);
% wait a second before going to sleep
pause(5);
%%
% The *sleep* command can be used to force the currently connected Sphero
% to go to sleep
disp('Forcing Sphero to go to sleep');
sleep(sph);
%% See Also
% * <matlab:showdemo('sphero_troubleshoot_connection') Troubleshooting Connection Issues with Sphero>
% * <matlab:showdemo('sphero_motion_control') Sphero Motion Control>
% * <matlab:showdemo('sphero_simulink_examples') Sphero Simulink Library and Examples>
%%
% Copyright 2015, The MathWorks, Inc.