www.gusucode.com > Sphero Connectivity Package 程序工具箱matlab源码 > Sphero Connectivity Package/examples/sphero_troubleshoot_connection.m
%% Troubleshooting Connection Issues with Sphero
%
%% Sphero does not show up in the list of available devices OR Connection error: using icinterface/fopen (line 83)
% Sphero is not listed under available devices when creating the
% *sphero* object, or the following error is received:
%
sph = sphero
%%
%
% Error using sphero (line 498)
% Unable to connect to device. Please check that the
% device name is correct and the device is
% discoverable
%
% Caused by:
% Error using icinterface/fopen (line 83)
% Unsuccessful open: Cannot connect to the device.
% Possible reasons are another application is
% connected or the device is not available.
%%
% This might happen after a failed attempt to either create a new sphero
% object or connect to an existing one, and it might be due to several reasons,
% such as the device name not being correct, or the device having a different
% name or being undiscoverable, out of range, or not awake.
%
% To solve this, especially when creating a new sphero object, make sure
% that the device name is correct (for example Sphero-RGW for a sphero
% blinking Red, Green and White). Also, make sure that the sphero is paired
% to your computer, is awake and not currently connected to another device
% (it must be blinking with a sequence of 3 colors, see the related section
% in the readme.txt file for more about this, and the procedure to follow
% the very first time you use the sphero with MATLAB. You can also refer to
% the page on <matlab:showdemo('sphero_getting_started') Getting Started with Sphero
% Connectivity Package>).
%
% If the above conditions are verified, then trying to create the Sphero
% object again (perhaps a couple of times) will usually result in a
% successful connection.
%
% If you are still unable to connect to the device, close MATLAB,
% unpair (or remove) the device from the computer and then pair it again,
% restart MATLAB, and try creating a new sphero object.
%
% If the problem persists, try updating the Sphero firmware by connecting
% to the Sphero app on an Android or iOS device, and repeat the above
% procedures.
%
%% Connection error: Undefined function 'Bluetooth'
%
% Error using sphero (line 498)
% Unable to connect to device. Please check that the device
% name is correct and the device is discoverable
%
% Caused by:
% Undefined function 'instrhwinfo' for input arguments of type 'char'.
%
% This error (undefined function 'instrhwinfo' or 'Bluetooth' ...) means
% that the Instrument Control Toolbox (ICT) is not installed. This package
% is based on the bluetooth connectivity functions provided by the
% the ICT, and so therefore you will need to get that toolbox if
% you want to use this package.
%
%% Sphero disconnected without any warning sign
%
% If you notice that the sphero is disconnected but you have not received
% any error or disconnection message, it means that MATLAB is unaware
% that the connection got lost. This is unusual because any following command
% would be unsuccessful, therefore causing a disconnection.
%
% In any case you can use the "disconnect" command before reconnecting
% (with the "connect" command).
%
%%
% <html><a id = "reset"></a></html>
%% Resetting the Sphero
%
% Sometimes MATLAB loses the connection but the sphero is unaware of it,
% (that is it still displays a solid color without blinking).
% This might happen for example when the sphero variable is inadvertedly
% cleared while the sphero was still connected.
%
% In such cases, you need to reset the sphero, which can be done by
% placing it on the charger.
%
% If the sphero is still running (rotating) then the inductive copper coil
% under of the robotic chassis does not point straight down but at an angle
% of approximately 45 degrees between the vertical axes and the axis opposite
% to the direction of motion. Therefore, the charger must be placed at the
% same angle so that it is close to the Sphero inductive coil. Alternatively
% if you move the charger around the Sphero circumference it will find the
% coil and reset itself.
%
% Also see this: <https://sphero.zendesk.com/entries/22259484>
%
% Once the sphero has been reset, then the connect command can be used to
% reinstate the connection to the sphero.
%% Warning received when connecting to device
% Creating a connection to Sphero device produces the following warning,
% and the Status of the connection is 'closed':
sph = sphero('Sphero-GPG');
%%
% Warning: Error occured when reading Asynchronous message: Received response is not valid
% Warning: The BytesAvailableFcn is being disabled. To enable the callback property
% either connect to the hardware with FOPEN or set the BytesAvailableFcn property.
%
% > In BluetoothApi>BluetoothApi.readResponse at 1145
% In sphero>sphero.get.Color at 1366
%
% This might occur when the Sphero responds with an invalid response when
% trying to connect to it initially. Please try connecting to it once
% again.
%%
% <html>
% If the problem persists, reset the Sphero device by placing it on the
% charger (see the section above on <a href = "#reset">Resetting the
% Sphero</a>), and then try to connect to it again.
% </html>
%% Error when connection gets broken
%
% The two errors and the warning shown below might occur when the connection gets lost.
% This can happen for a variety of reasons, such as the sphero going out
% of range, or running out of battery, or going to sleep because of inactivity.
%
% In such cases, just wake up the sphero, make sure it's in range, and
% reconnect it using the "connect" command (or recreate the sphero
% variable).
%%
% Error using icinterface/fwrite (line 193)
% An error occurred during writing
%
% Error in sphero.internal.BluetoothApi/sendCmd (line 1251)
% fwrite(obj.Bt, cmd);
%
% Error in sphero/set.Color (line 1354)
% [responseexpected, seq] = sendCmd(obj.Api, 'setrgbled', [], [], [], uint8(rgb),
% uint8(obj.SaveLedColor));
%
%%
% Error using sphero.internal.BluetoothApi/readResponse
% (line 1133)
% Response Timeout
%
% Error in sphero/heading (line 351)
% response = readResponse(obj.Api,
% responseexpected, seq,
% obj.ResponseTimeout);
%
% Error in sphero/calibrate (line 1112)
% result2 = heading(obj, 0);
%
%%
% Warning: Unable to write to device. The Sphero might already be
% disconnected
% > In sphero/BluetoothApi/sendCmd (line 1255)
% In sphero/set.Color (line 1354)
%
%% Error in sphero/readLocator (line 1068)
%
% Error using sphero/BluetoothApi/readResponse (line 1133)
% Unknown command ID received. Please check API definition
%
% Error in sphero/readLocator (line 1068)
% response = readResponse(obj.Api,
% responseexpected, seq, obj.ResponseTimeout);
%
% The most likely cause of this error is that you are using a Sphero
% with firmware version 3.71, in which this functionality was temporarily
% removed. Therefore, if you need to use the readLocator function you need
% to use either an older or newer version of the firmware.
%
% If "sph" is the name of your Sphero object in the MATLAB workspace, then
% you can use the following commands to display the firmware version:
%
hw = hardwareinfo(sph);sphver = version(hw);
firmware = [num2str(sphver.MainSpheroApplicationVersion) ...
'.' num2str(sphver.MainSpheroApplicationRev)]
%% See Also
% <matlab:showdemo('sphero_examples') Sphero Connectivity Package Examples>
%
%%
% Copyright 2015, The MathWorks, Inc.