www.gusucode.com > Sphero Connectivity Package 程序工具箱matlab源码 > Sphero Connectivity Package/sphero.m
classdef sphero<handle
%SPHERO Connect and communicate with Sphero
%
% OBJ = SPHERO() creates a connection to Sphero and assigns the
% connection to a handle. If you do not indicate the name of the device
% to connect to, it searches for the paired Sphero devices and asks user
% to select one of them to connect to
%
% obj = SPHERO(DEVICENAME) connects to the indicated device through
% the default communication protocol
%
% sphero properties:
% BackLEDBrightness - Brightness of the LED which indicates the back of the Sphero
% CollisionDetection - Toggle Collision Detection
% Color - Color of LED on the Sphero
% DeviceName - Bluetooth name of Sphero
% Handshake - Toggle handshaking between PC and Sphero
% InactivityTimeout - Timeout for inactivity (in seconds) (default = 600)
% MotionTimeout - Timeout for the last motion command (in seconds) (default = 2)
% ResponseTimeout - Timeout for response to be received from Sphero (in seconds) (default = 2)
% Status - (Read-only) Status of connection with Sphero
%
% sphero methods:
% boost - Run Sphero in Boost mode, which causes it to movee with high speed in the current direction
% brake - Apply optimal braking to stop the Sphero
% calibrate - Calibrate the original orientation of the Sphero
% connect - Connect to Sphero
% delete - Delete the object of the class
% disconnect - Disconnect from the Sphero
% hardwareinfo - Create an object for hardware related information of Sphero
% interruptSensorPolling - Interrupt the current sensor polling
% logSensors - Poll the Sphero for specific sensor data, and log the data to a file.
% ping - Ping the Sphero to check the connection and whether the Sphero is awake and active
% rawMotor - Provide raw motor commands to control the motor speed
% readLocator - Read current location of Sphero, component velocities, and speed over ground
% readSensor - Read the current value of the indicated sensors
% roll - Move the Sphero along a specific direction
% sleep - Force Sphero to go to sleep
%
% Examples:
%
% %Create a Sphero object
% sph = sphero('Sphero-GPG');
%
% %Change color of the Sphero LED, and turn on the back LED
% sph.Color = 'r';
% sph.BackLEDBrightness = 255;
%
% %Calibrate the orientation of the sphero
% calibrate(sph, 80);
%
% %Command the Sphero to movewith a speed of 20 at 0 degrees,
% %and then turn right after 1 second.
% roll(sph, 70,0); %speed, angle
% pause(1)
% roll(sph, 70, 90);
% pause(1);
% brake(sph);
%
% %Query the Sphero for the distance travelled along X and Y
% %axes since start, whish are measured based on encoder readings
% [x, y] = readSensor(sph, {'distX', 'distY'});
% See Also:
% HARDWAREINFO
% <a href="matlab:showdemo('sphero_examples')">Sphero Connectivity Package Examples</a>
% Copyright 2015-2018, The MathWorks, Inc.
properties
%ResponseTimeout - Timeout for response to be received from Sphero (in seconds)(default = 2)
ResponseTimeout = 2;
%BackLEDBrightness - Brightness of the LED which indicates the back of the Sphero
% Value of 0 turns off the LED, and 255 sets it to its maximum
% brightness
BackLEDBrightness;
%MotionTimeout - Timeout for the last motion command (in seconds) (default = 2)
% Modify this value if you would like the 'roll' commands to keep
% the sphero rolling, instead of stopping after some time.
MotionTimeout;
%InactivityTimeout - Timeout for inactivity (in seconds) (default = 600)
% Sphero would go to sleep after the specified period of
% inactivity. The inactivity timer is reset every time an API
% command is received ver Bluetooth
InactivityTimeout;
%CollisionDetection - Toggle Collision Detection
CollisionDetection = 0;
%NOTE: To be considered in future
% PermOptions %would have a set method
% TempOptions %would have a set method
%
end
properties(Hidden=true)
Api % Object to the CommunicationApi that is used by Sphero
Listeners % Listeners used for processing asynchronous responses
SaveLedColor = 1; % Whether LED Color should persist across power cycles
CommunicationApi = 'BluetoothApi'; %Specify which child of CommunicationApi class is to be used for the current version
end
properties(Access = private)
PrevHeading = 0;
end
properties(Access = {?sphero, ?BluetoothApi})
%SensorPolling - Temporarily save the data from the sensors being polled, before saving them to a file
% It is a struct with the following fields:
% filename
% sensors
% freq
% samples
% samplesPerPacket
% packets
% prevValues - a struct with the name of sensors being polled as
% the field. Required as the previous values in file
% are overwritten when saving the data with same
% variable name. Otherwise the file would have to be
% read at every iteration, when a new packet has to
% be saved to file.
SensorPolling
end
properties (Dependent=true)
Handshake; % Toggle handshaking between PC and Sphero
Color; % Color of LED on the Sphero
end
properties (Dependent=true, SetAccess = private)
Status % Status of connection with Sphero
DeviceName; % Bluetooth name of Sphero
end
properties(GetAccess = private, Constant, Hidden)
RateResolution = 0.784; % Resolution of Rotation Rate of sphero
RateMax = 400; % Maximum possible Rotation rate
end
methods(Static, Hidden)
function varargout = simpleResponse(response)
%SIMPLERESPONSE Checks if received response is valid or not
%
% SIMPLERESPONSE(RESPONSE) would error out if the response is invalid
%
% valid = SIMPLERESPONSE(RESPONSE) returns 1 if reponse is
% valid, otherwise it will return 0
if nargout
if isempty(response)
varargout{1} = 1;
else
varargout{1} = 0;
end
else
if ~isempty(response)
err = MException('Sphero:simpleResponse:InvalidResponse', 'Invalid response received');
throwAsCaller(err);
end
end
end
end
methods(Static, Access = private)
function [Mask, Mask2] = DataStreamingMask(sensors)
%DATASTREAMINGMASK Create the Masks that are used to create the
% command to stream sensor data from Sphero
Mask = uint32(0);
Mask2 = uint32(0);
for i=1:length(sensors)
switch sensors{i}
case'accelX'
Mask = bitset(Mask, 32);
case 'accelY'
Mask = bitset(Mask, 31);
case 'accelZ'
Mask = bitset(Mask, 30);
case 'gyroX'
Mask = bitset(Mask, 29);
case 'gyroY'
Mask = bitset(Mask, 28);
case 'gyroZ'
Mask = bitset(Mask, 27);
case 'rmotorEmfRaw'
Mask = bitset(Mask, 23);
case 'lmotorEmfRaw'
Mask = bitset(Mask, 22);
case 'lmotorPwmRaw'
Mask = bitset(Mask, 21);
case 'rmotorPwmRaw'
Mask = bitset(Mask, 20);
case 'imuPitch'
Mask = bitset(Mask, 19);
case 'imuRoll'
Mask = bitset(Mask, 18);
case 'imuYaw'
Mask = bitset(Mask, 17);
case 'accelXFilt'
Mask = bitset(Mask, 16);
case 'accelYFilt'
Mask = bitset(Mask, 15);
case 'accelZFilt'
Mask = bitset(Mask, 14);
case 'gyroXFilt'
Mask = bitset(Mask, 13);
case 'gyroYFilt'
Mask = bitset(Mask, 12);
case 'gyroZFilt'
Mask = bitset(Mask, 11);
case 'rmotorEmfFilt'
Mask = bitset(Mask, 7);
case 'lmotorEmfFilt'
Mask = bitset(Mask, 6);
case 'Q0'
Mask2 = bitset(Mask2, 32);
case 'Q1'
Mask2 = bitset(Mask2, 31);
case 'Q2'
Mask2 = bitset(Mask2, 30);
case 'Q3'
Mask2 = bitset(Mask2, 29);
case 'distX'
Mask2 = bitset(Mask2, 28);
case 'distY'
Mask2 = bitset(Mask2, 27);
case 'accelOne'
Mask2 = bitset(Mask2, 26);
case 'velX'
Mask2 = bitset(Mask2, 25);
case 'velY'
Mask2 = bitset(Mask2, 24);
otherwise
err = MException('Sphero:DataStreamingMask:IncorrectInput', ...
'Undefined sensor name');
throw(err);
end
end
end
function powerNotify(~, eventdata)
%POWERNOTIFY Callback for Listener for PowerNotification property of
% CommunicationApi. By default it will just display a warning.
% src.Name will be 'PowerNotification'
warning(eventdata.AffectedObject.PowerNotification);
lastwarn(''); %Added so that instrcb.m does not display the warning again
end
function preSleepWarning(~, eventdata)
%PRESLEEPWARNING Callback for Listener for PreSleepWarning property of
% CommunicationApi. By default it will just display a warning.
if eventdata.AffectedObject.PreSleepWarning
warning('Sphero is about to sleep due to inactivity. Disconnecting from the device');
lastwarn(''); %Added so that instrcb.m does not display the warning again
disconnect(eventdata.AffectedObject);
end
end
function collisionDetect(~, eventdata)
%COLLISIONDETECT Callback for Listener for CollisionDetection
% property of CommunicationApi. By default it will just display a warning
warning('Collision occured along %c-direction', eventdata.AffectedObject.CollisionDetected);
lastwarn(''); %Added so that instrcb.m does not display the warning again
end
function gyroAxisLimitExceed(~, ~)
%GYROAXISLIMITEXCEEDED Callback for Listener for GyroAxisLimitExceed
% property of CommunicationApi. By default it will just display a warning
warning('Gyro Axis Limit Exceeded');
lastwarn(''); %Added so that instrcb.m does not display the warning again
end
end
methods(Access = private)
function sensorDataStreaming(obj, ~, ~)
%SENSORDATASTREAMING Callback for Listener for the SensorData
% property, for Logging the sensor data
if isempty(obj.SensorPolling.filename)
warning(['Sphero is sending Sensor Data that is to be polled'...
', but settings for saving the sensor data have'...
' not been set.']);
return
end
if isempty(obj.Api.SensorData)
return
end
%Loop through the list of sensors, add the current packet data
%to obj.SensorPolling.prevValues and save the sensor data to file
for i=1:length(obj.SensorPolling.sensors)
if ~isfield(obj.Api.SensorData, obj.SensorPolling.sensors{i})
return
end
currData = obj.Api.SensorData.(obj.SensorPolling.sensors{i});
prevData = obj.SensorPolling.prevValues.(obj.SensorPolling.sensors{i});
prevData(end+1:end+length(currData)) = currData;
values.(obj.SensorPolling.sensors{i}) = prevData;
obj.SensorPolling.prevValues.(obj.SensorPolling.sensors{i}) = prevData;
end
save(obj.SensorPolling.filename, 'values', '-append');
samplesRemaining = obj.SensorPolling.samples-length(values.(obj.SensorPolling.sensors{1}));
if samplesRemaining<=0
obj.SensorPolling.filename =[];
obj.SensorPolling.freq = [];
obj.SensorPolling.samples = [];
obj.SensorPolling.samplesPerPacket = [];
obj.SensorPolling.packets = [];
obj.SensorPolling.sensors = [];
obj.SensorPolling.prevValues = [];
% Delete the listener for SensorData and set the property
% of Api class to reject further sensor data response
% packets
delete(obj.Listeners.SensorDataList);
obj.Api.RejectSensorDataResponsePacket = 1;
end
end
function varargout = heading(obj, angle)
%HEADING Adjust the heading direction of the sphero
%
% HEADING(SPH, ANGLE) sets the new heading to ANGLE, where ANGLE
% is in degrees
nargoutchk(0, 1)
angle = mod(angle, 360);
[responseexpected, seq] = sendCmd(obj.Api, 'setcal', [], [], [], angle);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
end
function varargout = stabilization(obj, flag)
%STABILIZATION Toggle the stabilization
%
% STABILIZATION(SPH, FLAG) toggles the stabilization property
% of the Sphero based on the FLAG value
nargoutchk(0, 1)
p = inputParser;
addRequired(p, 'flag', @(x) isnumeric(x) && (x==0 || x==1));
parse(p, flag);
[responseexpected, seq] = sendCmd(obj.Api, 'setstabiliz', [], [], [], flag);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
end
function varargout = configureCollisionDetection(obj, method, xt, xspd, yt, yspd, dead)
%CONFIGURECOLLISIONDETECTION Configure the options for Collision Detection
%
% CONFIGURECOLLISIONDETECTION(SPH, METHOD, XT, XSPD, YT, YSPD, DEAD)
% sets the following options for the collision detection
%
% METHOD: 0 to disable, 1 to enable collision detection
% XT, YT: Threshold for X and Y axes of Sphero, at speed 0
% XSPD, YSPD: Value added to XT and YT at maximum speed, for
% the threshold at maximum speed
% DEAD : Dead time to prevent retrigerring. Specified in ms
p = inputParser;
addRequired(p, 'objectname');
addRequired(p, 'method', @(x) isnumeric(x) && (x==0 || x==1));
addRequired(p, 'xt', @(x) isnumeric(x) && x>=intmin('uint8') && x<=intmax('uint8'));
addRequired(p, 'xspd', @(x) isnumeric(x) && x>=intmin('uint8') && x<=intmax('uint8'));
addRequired(p, 'yt', @(x) isnumeric(x) && x>=intmin('uint8') && x<=intmax('uint8'));
addRequired(p, 'yspd', @(x) isnumeric(x) && x>=intmin('uint8') && x<=intmax('uint8'));
addRequired(p, 'dead', @(x) isnumeric(x) && x>=intmin('uint8') && x<=intmax('uint8')); %Specified in ms. Sphero requires dead time in 10ms increments
parse(p, obj, method, xt, xspd, yt, yspd, dead);
nargoutchk(0, 1)
try
[responseexpected, seq] = sendCmd(obj.Api, 'setcollisiondet', [], [], [], p.Results.method, p.Results.xt, p.Results.xspd, p.Results.yt, p.Results.yspd, p.Results.dead/10);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
catch exception
throwAsCaller(exception)
end
end
function varargout = configureLocator(obj, x, y, flag, yawtare)
%CONFIGURELOCATOR Reset the location of the robot and change the alignment of locator coordinates with respect to IMU heading
%
% CONFIGURELOCATOR(SPH, X, Y) configures the current X, Y
% coordinates of the Sphero
%
% CONFIGURELOCATOR(SPH, FLAG, X, Y, YAWTARE) configures the
% internal locator of the Sphero based on the input values.
% X, Y denote the current coordinates of the Sphero on the ground
% in cm.
% FLAG determines whether the yaw tare value is automatically
% corrected when calibrate command is used. (default = 1).
% YAWTARE controls how the X, Y-plane is aligned with the
% Sphero's internal heading coordinate system. When this is set
% to 0, it means that when rotation of Sphero is 0 (yaw=0), it
% corresponds to facing down the +Y-axis. (default = 0)
%
% RESULT = CONFIGURELOCATOR(SPH, X, Y) returns 1 if the command
% succeeds, otherwise it returns 0
nargoutchk(0, 1);
p = inputParser;
addRequired(p, 'objectname');
addRequired(p, 'x', @(x) isnumeric(x) && x>=intmin('int16') && x<=intmax('int16'));
addRequired(p, 'y', @(x) isnumeric(x) && x>=intmin('int16') && x<=intmax('int16'));
addOptional(p, 'flag', 1, @(x) isnumeric(x) && (x==0 || x==1));
addOptional(p, 'yawtare', 0, @(x) isnumeric(x) && x>=intmin('int16') && x<=intmax('int16'));
parse(p, obj, x, y, flag, yawtare);
[responseexpected, seq] = sendCmd(obj.Api, 'locator', [], [], [], p.Results.flag, p.Results.x, p.Results.y, p.Results.yawtare);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
end
function setFlagsForMotionTimeout(obj)
%SETFLAGSFORMOTIONTIMEOUT Set the permanent flags such that MotionTimeout property takes affect
%
% RESULT = SETFLAGSFORMOTIONTIMEOUT(SPH) sets the permanent flags
% on the Sphero's config block, such that the MotionTimeout
% command takes affect
[responseexpected, seq] = sendCmd(obj.Api, 'getoptionsflag', [], 1, []);
recoptionsflags = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
recoptionsflagsbits = dec2bin(recoptionsflags(4), 8); % Just taking the last byte, as the response is received in Big Endian format
sendoptionsflags = char(recoptionsflagsbits);
sendoptionsflags(4) = '1'; % Set to enable motion timeouts;
sendoptionsflags(7) = '1';
[responseexpected, seq] = sendCmd(obj.Api, 'setoptionsflag', [], [], [], sendoptionsflags);
result = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
if responseexpected && ~isempty(result)
error('Sphero:FlagsForMotionTimeout:NotSet', 'Motion timeout could not be set. Please check the connection and retry');
end
end
end
methods
function obj = sphero(varargin)
%SPHERO Create an object of class sphero
%
% obj = SPHERO() searches for the paired Sphero devices and asks user
% to select one of them to connect to
%
% obj = SPHERO(DEVICENAME) connects to the indicated device through
% the communication protocol
%
% obj = SPHERO(DEVICENAME, CONNECT, COMMUNICATIONAPI) connects
% to the device using the indicated COMMUNICATIONAPI if
% CONNECT is logically true. COMMUNICATIONAPI is a string,
% which corresponds to the name of a class which inherits from
% 'Communication' class under sphero.internal package and is
% present in the package
%
% Examples:
%
% %Create a Sphero object
% sph = sphero('Sphero-GPG');
obj.Api = sphero.(obj.CommunicationApi);
% Add listeners to the events, with callbacks set to the
%default callback functions
obj.Listeners.PowerNotificationList = addlistener(obj.Api, 'PowerNotification', 'PostSet', @sphero.powerNotify);
obj.Listeners.PreSleepWarningList = addlistener(obj.Api, 'PreSleepWarning', 'PostSet', @sphero.preSleepWarning);
obj.Listeners.CollisionDetectionList = addlistener(obj.Api, 'CollisionDetected', 'PostSet', @sphero.collisionDetect);
obj.Listeners.GyroAxisLimitExceedList = addlistener(obj.Api, 'GyroAxisLimitExceed', 'PostSet', @sphero.gyroAxisLimitExceed);
obj.Listeners.SensorDataList = [];
% obj.Listeners.SensorDataList = addlistener(obj.Api, 'SensorData', 'PostSet', @obj.sensorDataStreaming);
% obj.Listeners.SensorDataList.Enabled = false;
if nargin>1
if varargin{2}
connect(obj, varargin{1});
else
return
end
else
connect(obj, varargin{:});
end
% Set the default values of the properties which have associated
% set Methods
obj.Handshake = 0;
obj.BackLEDBrightness = 0;
setFlagsForMotionTimeout(obj); % Set the permanent flags such that MotionTimeout property takes affect
obj.MotionTimeout = 2;
obj.InactivityTimeout = 600;
obj.SensorPolling = struct('filename', [], 'freq', [], ...
'samples', [], 'samplesPerPacket', [], 'packets', [], ...
'sensors', [], 'prevValues', [], 'presentValues', []);
interruptSensorPolling(obj); % Reset the previous sensor polling
end
function result = ping(obj)
%PING Ping the Sphero to check the connection and whether the Sphero is awake and active
%
% RESULT = PING(SPH) returns the result of the ping as 1 if the
% connection is active. Otherwise it returns 0.
try
[responseexpected, seq] = sendCmd(obj.Api, 'ping', [], 1);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
catch err
warning(err.message);
response = NaN;
end
if isempty(response)
result = 1;
else
result = 0;
end
end
function connect(obj, varargin)
%CONNECT Connect to Sphero
%
% CONNECT(SPH) would connect to the previous Sphero device if
% it is detected. Otherwise it will search for paired devices
% and prompt the user to select one
%
% CONNECT(SPH, DEVICENAME) would try to connect to the
% specified device
% If currently connected to a sphero, ping it and check if a
% response is received
if ~isempty(obj.Api.Bt) && strcmp(obj.Api.Bt.Status, 'open')
try
% Turn off warnings such that the 'ping' command does
% not display an unecessary warning for the user
origwarn = warning;
warning('off', 'all');
pingresult = ping(obj);
% Restore the warning state
warning(origwarn);
%If connected to a Sphero currently, and the user wants to
%connect to a particular sphero
if pingresult
if nargin>1
if ~strcmp(obj.Api.DeviceName, varargin{1})
error('sphero:connect:AlreadyConnected', ...
['Currently connected to a different sphero: %s.', ...
' First disconnect with the current sphero,', ...
'in order to connect to %s.'],...
obj.Api.DeviceName, varargin{1});
else
%Already connected to the desired sphero
return
end
else
%Already connected to a Sphero
return
end
end
%If ping was unsuccessful, then connect to a Sphero
catch e
if strcmp(e.identifier, 'sphero:connect:AlreadyConnected')
rethrow(e);
end
%If some other error, then do nothing, and try to
%connect to desired device
end
end
try
connect(obj.Api, varargin{:});
catch exception
throwAsCaller(exception);
end
end
function varargout = roll(obj, speed, heading)
%ROLL Move the Sphero along a specific direction
%
% ROLL(SPH, SPEED, HEADING) would cause the Sphero to move
% at the angle specified by HEADING, with speed of SPEED.
% HEADING is a value from 0 to 360, specified with regards
% to the original orientation that is set when the Sphero is
% first connected, or calibrated to.
% SPEED can be between -255 and 255
%
% RESULT = ROLL(SPH, SPEED, HEADING) would return 1 if the
% command succeeds. Otherwise it returns 0.
nargoutchk(0, 1)
if speed>255||speed<-255
error('Sphero:roll:InputOutOfBounds', 'Please enter a value for SPEED that is between -255 and 255');
elseif speed<0
heading = heading+180;
speed = abs(speed);
end
heading = mod(heading, 360);
[responseexpected, seq] = sendCmd(obj.Api, 'roll', [], [], [], speed, heading, 1);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
obj.PrevHeading = heading;
end
function varargout = brake(obj)
%BRAKE Apply optimal braking to stop the Sphero
%
% BRAKE(SPH) would apply optimal braking to zero speed
%
% RESULT = BRAKE(SPH) returns 1 if the command succeeds,
% otherwise it returns 0
nargoutchk(0, 1)
[responseexpected, seq] = sendCmd(obj.Api, 'roll', [], [], [], 0, obj.PrevHeading, 0);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
end
function varargout = logSensors(obj, rate, varargin)
%LOGSENSORS Poll the Sphero for specific sensor data, and save the data to a file.
%
% LOGSENSORS(SPH, RATE) saves the data of the distance
% travelled along x and y direction of the robot (based on
% initial orientation) in a MAT file that is named log.mat by
% default. The sensors will be polled indefinitely at the rate
% specified by RATE (0-400Hz), with 1 value per packet being
% transmitted back to the machine
%
% LOGSENSORS(SPH, RATE, FRAMESPERPACKET, PACKETS) can be used
% to configure the number of frames to be relayed back to the
% Sphero per packet, and also specify the number of packets to
% be returned for the current sensors that are being polled
% (distX and distY by default)
%
% LOGSENSORS(____, Name, Value) provides additional options
% specified by one or more Name, Value pair arguments. Name must
% appear inside single quotes (''). You can specify several
% name-value pair arguments in any order as Name1, Value1, ...,
% NameN, ValueN:
% 'sensorname' - Cell array of sensors to be polled
% 'filename' - Name of MAT file to which data should be saved
% 'append' - Specify 1 in order to append data to the file
%
% RESULT = LOGSENSORS(SPH, RATE) returns 1 if the command succeeds,
% otherwise it returns 0
%
% Examples:
% logSensors(sph, 1, 'sensorname', {'accelX', 'accelY'}, 'filename', 'myfile.mat', 'append', 1)
%Arguments
% 1. Sphero object
% 2. Rate at which sensors are to be polled
% 3. framesPerPacket:Number of frames to be transmitted per
% packet that is sent (default = 1)
% 4. packets: Number of packets to be transmitted (default = 0,
% unlimited)
% NVP: sensorname, file, format, append
p = inputParser;
defaultFramesPerPacket = 1;
defaultPackets = 0;
defaultSensors = {'distX', 'distY'};
defaultFilename = 'log.mat';
checkFramesPerPacket = @(x) isnumeric(x) && isscalar(x) && (x>0);
checkPackets = @(x) isnumeric(x) && isscalar(x) && (x>=0) && ...
(x<=intmax('uint8'));
function valid = checkSensorName(x, validSensors)
if iscell(x)
valid = all(cell2mat(cellfun(@(y) any(validatestring(y, validSensors)), x, 'UniformOutput', false)));
else
valid = any(validatestring(x, validSensors));
end
end
filename = '';
function valid = checkFilename(x)
[pathstr,name,ext] = fileparts(x);
if isempty(ext)
ext = '.mat';
elseif ~strcmp(ext, '.mat')
error('Sphero:logSensors:FileExt', 'File extension should be MAT');
end
filename = fullfile(pathstr, [name, ext]);
fileId = fopen(filename, 'a');
if fileId~=-1
valid=1;
fclose(fileId);
else
error('Sphero:logSensors:UnableToOpenFile', 'Cannot open the file %s', filename)
end
end
validSensors = {'accelX', 'accelY', 'accelZ', 'gyroX', 'gyroY', ...
'gyroZ', 'rmotorEmfRaw', 'lmotorEmfRaw', 'lmotorPwmRaw', ...
'rmotorPwmRaw', 'imuPitch', 'imuRoll', 'imuYaw', ...
'accelXFilt', 'accelYFilt', 'accelZFilt', 'gyroXFilt', ...
'gyroYFilt', 'gyroZFilt', 'rmotorEmfFilt', 'lmotorEmfFilt', ...
'Q0', 'Q1', 'Q2', 'Q3', 'distX', 'distY', 'accelOne', ...
'velX', 'velY'};
addRequired(p, 'objectname')
addRequired(p, 'rate', @(x) isnumeric(x) && x>=0 && x<=400);
addOptional(p, 'framesPerPacket', defaultFramesPerPacket, checkFramesPerPacket);
addOptional(p, 'packets', defaultPackets, checkPackets);
addParamValue(p, 'sensorname', defaultSensors, @(x) checkSensorName(x, validSensors)); %#ok<NVREPL>
addParamValue (p, 'filename', defaultFilename, @(x) checkFilename(x)); %#ok<NVREPL>
addParamValue (p, 'append', 0, @(x) (x==0||x==1)); %#ok<NVREPL>
parse(p, obj, rate, varargin{:});
N = uint16(obj.Api.MaxSensorSampleRate/p.Results.rate);
M = p.Results.framesPerPacket;
Pcnt = p.Results.packets;
if ~iscell(p.Results.sensorname) % Convert the sensorname to a cell array
sensors = cellstr(p.Results.sensorname);
else
sensors = p.Results.sensorname;
end
sensors = cellfun(@(y) validatestring(y, validSensors), sensors, 'UniformOutput', false);
[Mask, Mask2] = sphero.DataStreamingMask(sensors);
%Create a cell array of the sensor names sorted in the order
%that response is expected.
sortedSensors = {};
for i=1:length(validSensors)
if any(strcmp(sensors, validSensors{i}))
sortedSensors{end+1} = validSensors{i}; %#ok<AGROW>
end
end
% If previous polling is already in progress, then wait
% till it completes
warncount=0;
while ~isempty(obj.SensorPolling.filename)
if isinf(obj.SensorPolling.packets)
warning(['Interrupting previous sensor polling, '...
'which was set to unlimited streaming'])
break
elseif warncount<1 % If the warning has not been displayed, then display it
warning(['Other sensors are being polled at present. '...
'Waiting till that completes. If you would like to ', ...
'interrupt the current sensor polling, press ctrl+c ', ...
'and use the interruptSensorPolling method']);
warncount=1;
end
end
if ~isempty(filename) % If the user specified the filename,
% and it was processed by the checkFilename function, then use the processed filename
obj.SensorPolling.filename = filename;
else
obj.SensorPolling.filename = p.Results.filename;
end
% Set the fields of 'SensorPolling' property so that it can be
% used by the callback function
obj.SensorPolling.freq = obj.Api.MaxSensorSampleRate/N;
obj.SensorPolling.samples = M*Pcnt;
obj.SensorPolling.samplesPerPacket = M;
obj.SensorPolling.packets = Pcnt;
obj.SensorPolling.sensors = sortedSensors;
if Pcnt==0
obj.SensorPolling.samples = Inf;
obj.SensorPolling.packets = Inf;
end
for i=1:length(sortedSensors) % Initialize the SensorPolling.prevValue field for all the sensors that are to be polled
obj.SensorPolling.prevValues.(sortedSensors{i}) = [];
obj.SensorPolling.presentValues.(sortedSensors{i}) = [];
end
% If the file is to be appended to, check if the file contains
% data from the same sensors that are to be polled. If they
% match, then append the data to the file. Otherwise overwrite
% the file
if p.Results.append
readData = load(obj.SensorPolling.filename);
sensorsPolled = fieldnames(readData.values);
if readData.freq==obj.SensorPolling.freq && ...
all(strcmp(sensorsPolled, obj.SensorPolling.sensors))
obj.SensorPolling.prevValues = readData.values;
samples = readData.samples+obj.SensorPolling.samples;
save(obj.SensorPolling.filename, samples, '-append')
else
%If the previous saved sensor data does not match the
%data that is to be polled, then overwrite the file
warning(['Cannot append to indicated file due to'...
'mismatch between saved data and data to be polled. '...
'Overwriting existing file']);
freq = obj.SensorPolling.freq;
samples = obj.SensorPolling.samples;
save(obj.SensorPolling.filename, freq, samples)
end
else
freq = obj.SensorPolling.freq; %#ok<NASGU>
samples = obj.SensorPolling.samples; %#ok<NASGU>
save(obj.SensorPolling.filename, 'freq', 'samples')
end
%Set up listener to save the received Sensor Data, which is
% sent through an asynchronous response, to the file
obj.Listeners.SensorDataList = addlistener(obj.Api, 'SensorData', 'PostSet', @obj.sensorDataStreaming);
% obj.Listeners.SensorDataList.Enabled = true;
% Set the property of Api class to accept sensor data response
% packets
obj.Api.RejectSensorDataResponsePacket = 0;
[responseexpected, seq] = sendCmd(obj.Api, 'setdatastreaming', [], [], [], N, M, Mask, Pcnt, Mask2);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
end
function interruptSensorPolling(obj)
%INTERRUPTSENSORPOLLING Interrupt the current sensor polling
%
% INTERRUPTSENSORPOLLING(SPH) interrupts the current sensor
% polling such that the next command for reading the sensor
% values or logging them can be sent
sensorDummy = {'accelX'};
N = 1;
M = 1;
Pcnt = 1;
[Mask, Mask2] = sphero.DataStreamingMask(sensorDummy);
% Delete the listener for the SensorData property, as it
% cannot be used for reading and returning the sensor value
delete(obj.Listeners.SensorDataList);
% Set the property of Api class to reject further sensor data
% response packets because we want to stop receiving any other
% sensor polling
obj.Api.RejectSensorDataResponsePacket = 1;
obj.SensorPolling.filename =[];
obj.SensorPolling.prevValues = [];
obj.SensorPolling.sensors = sensorDummy;
obj.SensorPolling.freq = obj.Api.MaxSensorSampleRate/N;
obj.SensorPolling.samples = M*Pcnt;
obj.SensorPolling.samplesPerPacket = M;
obj.SensorPolling.packets = Pcnt;
%Try to read a sensor value from the Sphero, which would
%interrupt the current sensor streaming
sendCmd(obj.Api, 'setdatastreaming', [], 0, [], N, M, Mask, Pcnt, Mask2);
end
function [value, varargout] = readSensor(obj, sensors)
%READSENSOR Read the current value of the indicated sensors
%
% VALUE = READSENSOR(SPH, SENSORNAME) returns the current value
% of the sensors as a structure with the field names being the
% same as the indicated sensor names indicated in SENSORNAME
%
% [VAL1, VAL2, ..., VALN] = READSENSOR(SPH, SENSORNAME) returns
% the current value read from the sensors into the individual
% outputs specified for the function. VAL1 would contain the
% value of the first sensor mentioned in SENSORNAME, and so
% forth.
%
% Refer to the file units.txt for the range and units of each
% sensor
%
% Examples:
%
% [distx, velx] = readSensor(sph, {'distX', 'velX'});
N = 1;
M = 1;
Pcnt = 1;
validSensors = {'accelX', 'accelY', 'accelZ', 'gyroX', 'gyroY', ...
'gyroZ', 'rmotorEmfRaw', 'lmotorEmfRaw', 'lmotorPwmRaw', ...
'rmotorPwmRaw', 'imuPitch', 'imuRoll', 'imuYaw', ...
'accelXFilt', 'accelYFilt', 'accelZFilt', 'gyroXFilt', ...
'gyroYFilt', 'gyroZFilt', 'rmotorEmfFilt', 'lmotorEmfFilt', ...
'Q0', 'Q1', 'Q2', 'Q3', 'distX', 'distY', 'accelOne', ...
'velX', 'velY'};
if ~iscell(sensors)
sensors = cellstr(sensors);
end
p = inputParser;
addRequired(p, 'sensors', @(x) all(cell2mat(cellfun(@(y) any(validatestring(y, validSensors)), sensors, 'UniformOutput', false))));
parse(p, sensors);
sensors = cellfun(@(y) validatestring(y, validSensors), p.Results.sensors, 'UniformOutput', false);
sensornum = length(sensors);
%Create a cell array of the sensor names sorted in the order
%that response is expected.
sortedSensors = {};
for i=1:length(validSensors)
if any(strcmp(sensors, validSensors{i}))
sortedSensors{end+1} = validSensors{i}; %#ok<AGROW>
end
end
if nargout>1 && nargout~=sensornum
error('Sphero:readSensor:NumOutputs', 'Expected number of outputs is either 1 or %i (number of sensors being read)', sensornum);
end
[Mask, Mask2] = sphero.DataStreamingMask(sortedSensors);
% If previous polling is already in progress, then wait
% till it completes
warncount=0;
while ~isempty(obj.SensorPolling.filename)
if isinf(obj.SensorPolling.packets)
warning(['Interrupting previous sensor polling, '...
'which was set to unlimited streaming'])
break
elseif warncount<1
warning(['Other sensors are being polled at present. '...
'Waiting till that completes']);
warncount=1;
end
end
% Delete the listener for the SensorData property, as it
% cannot be used for reading and returning the sensor value
delete(obj.Listeners.SensorDataList);
obj.SensorPolling.filename =[];
obj.SensorPolling.prevValues = [];
obj.SensorPolling.sensors = sortedSensors;
obj.SensorPolling.freq = obj.Api.MaxSensorSampleRate/N;
obj.SensorPolling.samples = M*Pcnt;
obj.SensorPolling.samplesPerPacket = M;
obj.SensorPolling.packets = Pcnt;
% Reset the SensorDataPropertySet property of 'Communication'
% class before we start polling it to check when the
% 'SensorData' property has been set due to data received from
% the Sphero
obj.Api.SensorDataPropertySet = 0;
% Set the property of Api class to accept sensor data response
% packets
obj.Api.RejectSensorDataResponsePacket = 0;
sendCmd(obj.Api, 'setdatastreaming', [], 0, [], N, M, Mask, Pcnt, Mask2);
%Wait until SensorData property is set, due to data being
%received from sphero
err = MException('Sphero:Api:ResponseTimeout', 'Response Timeout');
t0 = tic;
while ~obj.Api.SensorDataPropertySet
pause(0.1) % Adding a pause. Otherwise the callback for
% asynchronous messages is not trigerred, as this loop
% keeps on executing and prevents the callback from being executed
if toc(t0)>obj.ResponseTimeout
% Set the property of Api class to reject further sensor data
% response packets
obj.Api.RejectSensorDataResponsePacket = 1;
throw(err)
end
end
if sensornum==1
value = obj.Api.SensorData.(sensors{1});
elseif nargout==1 || nargout==0
value = orderfields(obj.Api.SensorData, sensors); %Retrieve sensor data when it is received
% Reorder the data that is received in the 'sortedSensor'
% fields, into the order that the user had input (i.e.
% sensors), so that the returned values are in the same
% order as the user requested
else
sensordata = struct2cell(orderfields(obj.Api.SensorData, sensors));
value = sensordata{1};% sensordata.(sensors{1});
varargout = sensordata(2:end);
end
% Set the property of Api class to reject further sensor data
% response packets
obj.Api.RejectSensorDataResponsePacket = 1;
end
function [out1, varargout] = readLocator(obj)
%READLOCATOR Read current location of Sphero, component velocities, and speed over ground
%
% OUT = READLOCATOR(SPH) returns the x, y position, velocities
% along x and y direction, and the speed of the Sphero as a
% structure. The position is signed value in cm, velocities are
% signed in cm/sec, and the speed is unsigned in cm/sec.
%
% [XPOS, YPOS] = READLOCATOR(SPH) returns the x and y position of
% the Sphero with regards to the original position and
% orientation when it was calibrated.
%
% [XPOS, YPOS, XVEL, YVEL, SPEED] = READLOCATOR(SPH) returns the
% x, y position, velocities along x and y direction, and the
% speed of the Sphero.
nargoutchk(0, 5);
[responseexpected, seq] = sendCmd(obj.Api, 'readlocator', [], 1, []);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
if nargout <2
if ~iscell(response) && any(isnan(response))
out1 = NaN;
else
result.xpos = response{1};
result.ypos = response{2};
result.xvel = response{3};
result.yvel = response{4};
result.speed = response{5};
out1 = result;
end
else
if ~iscell(response) && any(isnan(response))
out1 = NaN;
varargout = num2cell(NaN(1, nargout-1));
else
out1 = response{1};
varargout = response(2:nargout);
end
end
end
function varargout = calibrate(obj, angle)
%CALIBRATE Calibrate the original orientation of the Sphero
% CALIBRATE(SPH, ANGLE) rotates the Sphero by angle specified by
% ANGLE, and sets that as the 0 heading angle for subsequent
% motions. The orientation of the Sphero can be observed by
% setting the Brightness of its back LED by using the
% BackLEDBrightness property
%
% RESULT = CALIBRATE(OBJ, ANGLE) returns 1 if the command
% succeeds, otherwise it returns 0
%
% See also SPHERO.BACKLEDBRIGHTNESS
if nargout
roll(obj, 0, angle);
pause(obj.ResponseTimeout); % pause for short while while the Sphero changes its orientation
heading(obj, 0);
configureLocator(obj, 0, 0, 0, 0);
else
result1 = roll(obj, 0, angle);
pause(obj.ResponseTimeout);
result2 = heading(obj, 0);
result3 = configureLocator(obj, 0, 0, 0, 0);
if result1 && result2 && result3
varargout{1} = 1;
else
varargout{1} = 0;
end
end
obj.PrevHeading = 0;
end
function varargout = boost(obj, varargin)
%BOOST Run Sphero in Boost mode, which causes it to move with high speed in the specified direction
% BOOST(SPH) turns on the boost mode
%
% BOOST(SPH, HEADING) causes the Sphero to move with high speed
% in the indicated heading angle
%
% RESULT = BOOST(SPH) returns 1 if the command succeeds,
% otherwise it returns 0
nargoutchk(0, 1);
if nargin>1
heading = varargin{1};
heading = mod(heading, 360);
else
heading = 0;
end
if p.Results.flag
speed = 255;
else
speed = 0;
end
[responseexpected, seq] = sendCmd(obj.Api, 'roll', [], [], [], speed, heading, 1);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
end
function varargout = rawMotor(obj, varargin)
%RAWMOTOR Provide raw motor commands to control the motor speed
%
% RAWMOTOR(SPH, Name, Value) takes in name-value pairs in order
% to configure the motion of the motors. Name must appear inside
% single quotes (''). You can specify several name-value pair
% arguments in any order as Name1, Value1, ..., NameN, ValueN:
% 'left' - Power value for left motor between 0 and 255 (default = 0)
% 'right' - Power value for right motor between 0 and 255 (default = 0)
% 'leftmode' - Mode for left motor (default = 'ignore')
% 'rightmode' - Mode for right motor (default = 'ignore')
% The mode can be one of the following:
% 'off','forward','reverse','brake','ignore'
%
% Examples:
% rawMotor(sph, 'left', 150, 'leftmode', 'forward')
%
nargoutchk(0, 1);
narginchk(3,9);
validmodes = {'off', 'forward', 'reverse', 'brake', 'ignore'};
p = inputParser;
addRequired(p, 'objectname');
addParamValue (p, 'left', 0, @(x) isnumeric(x) && (x>=0 && x<=255)); %#ok<NVREPL>
addParamValue (p, 'right', 0, @(x) isnumeric(x) && (x>=0 && x<=255)); %#ok<NVREPL>
addParamValue (p, 'leftmode', 'ignore', @(x) any(validatestring(x, validmodes))); %#ok<NVREPL>
addParamValue (p, 'rightmode', 'ignore', @(x) any(validatestring(x, validmodes))); %#ok<NVREPL>
parse(p, obj, varargin{:});
leftpower = p.Results.left;
rightpower = p.Results.right;
function mode = selectmode(modestring)
switch modestring
case 'off'
mode = 0;
case 'forward'
mode = 1;
case 'reverse'
mode = 2;
case 'brake'
mode = 3;
case 'ignore'
mode = 4;
end
end
leftmode = selectmode(p.Results.leftmode);
rightmode = selectmode(p.Results.rightmode);
[responseexpected, seq] = sendCmd(obj.Api, 'setrawmotors', [], [], [], leftmode, leftpower, rightmode, rightpower);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
pause(obj.ResponseTimeout);
if obj.Handshake
result = stabilization(obj, 1); % Turn on stabilization again after running this command
if ~result
error('Sphero:rawMotor:Stabilization', 'Unable to set stabilization again, after running rawMotor command');
end
else
stabilization(obj, 1);
end
end
function disconnect(obj)
%DISCONNECT Disconnect from the Sphero
%
% DISCONNECT(SPH) disconnects from the connected Sphero device
try
if ~isempty(obj.Api.Bt) && strcmp(obj.Status, 'open')
obj.BackLEDBrightness = 0;
disconnect(obj.Api);
else
warning('Already disconnected from sphero')
end
catch e
obj.Api.Bt = []; %Clear the Bluetooth object if an error occurs
if (strcmp(e.identifier,'instrument:fwrite:opfailed'))
warning('Unable to write to device. The Sphero might already be disconnected')
else
rethrow(e);
end
end
end
function delete(obj)
%DELETE Delete the Sphero object and close the connection
if ~isempty(obj.Listeners)
delete(obj.Listeners.PowerNotificationList);
delete(obj.Listeners.PreSleepWarningList);
delete(obj.Listeners.CollisionDetectionList);
delete(obj.Listeners.GyroAxisLimitExceedList);
% delete(obj.Listeners.SensorDataList);
end
if ~isempty(obj.Api.Bt) && isvalid(obj.Api.Bt) && strcmp(obj.Api.Bt.Status, 'open')
obj.BackLEDBrightness = 0;
end
delete(obj.Api);
end
function varargout = sleep(obj, varargin)
%SLEEP Force Sphero to go to sleep
%
% SLEEP(SPH) makes the sphero go to sleep
%
% SLEEP(SPH, Name, Value) takes in name-value pairs in order
% to configure what the Sphero should do on waking up.
% Name must appear inside single quotes (''). You can specify
% several name-value pair arguments in any order as Name1,
% Value1, ..., NameN, ValueN:
% 'wakeup' - The number of seconds Sphero should sleep
% for and then automatically reaqaken. 0 causes it to sleep
% forever (default = 0)
% 'macro' - If non-zero, Sphero will attempt to run this
% macro ID upon wakeup(default = 0)
% 'orbBasic' - If non-zero, Sphero will attempt to run an
% orbBasic program in Flash from this line number (default =
% 0)
p = inputParser;
addRequired(p, 'objectname');
addParamValue (p, 'wakeup', 0, @(x) isnumeric(x) && (x>=0 && x<=intmax('uint16'))); %#ok<NVREPL>
addParamValue (p, 'macro', 0, @(x) isnumeric(x) && (x>=0 && x<=255)); %#ok<NVREPL>
addParamValue (p, 'orbBasic', 0, @(x) isnumeric(x) && (x>=0 && x<=intmax('uint16'))); %#ok<NVREPL>
parse(p, obj, varargin{:});
[responseexpected, seq] = sendCmd(obj.Api, 'sleep', [], [], [], p.Results.wakeup, p.Results.macro, p.Results.orbBasic);
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
[varargout{1:nargout}] = sphero.simpleResponse(response);
disconnect(obj.Api)
end
function hwinfoObj = hardwareinfo(obj, varargin)
%HARDWAREINFO Create an object for hardware related information of Sphero
% HWINFOOBJ = hardwareinfo(SPH) creates an object for hardware related
% information of Sphero
%
% See also:
% SPHERO.HWINFO
% <a href="matlab:showdemo('sphero_examples')">Sphero Connectivity Package Examples</a>
hwinfoObj = sphero.hwinfo(obj, varargin{:});
end
end
methods
% GET / SET methods
function set.Color(obj, value)
%set.Color Custom setter for Color property. Sends command to Sphero to change the color of LED
message = sprintf(['The color should be specified as a RGB value',...
'(0 to 1, or 0 to %i) or one of the predefined `s'], ...
obj.Api.Uint8Max);
err = MException('Color:Invalild', message);
if ~isnumeric(value)
switch value
case {'y', 'yellow'}
rgb = [1 1 0];
case {'m', 'magenta'}
rgb = [1 0 1];
case {'c', 'cyan'}
rgb = [0 1 1];
case {'r', 'red'}
rgb = [1 0 0];
case {'g', 'green'}
rgb = [0 1 0];
case {'b', 'blue'}
rgb = [0 0 1];
case {'w', 'white'}
rgb = [1 1 1];
case {'k', 'black'}
rgb = [0 0 0];
otherwise
throw(err);
end
elseif all(value<=(obj.Api.Uint8Max))
rgb = value;
else
throw(err);
end
if all(rgb<=1)
rgb = uint8(rgb)*(obj.Api.Uint8Max);
end
[responseexpected, seq] = sendCmd(obj.Api, 'setrgbled', [], [], [], uint8(rgb), uint8(obj.SaveLedColor));
response = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
if ~response
error('Unable to set the desired Color of Sphero');
end
end
function rgb = get.Color(obj)
%get.Color Custom getter for Color property. Retrieves the Color from the Sphero
[responseexpected, seq] = sendCmd(obj.Api, 'getrgbled', [], 1);
rgb = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout);
end
function set.Handshake(obj, value)
%set.Handshake Custom setter for Color property
obj.Api.Handshake = value;
end
function handshaking = get.Handshake(obj)
%get.Handshake Custom getter for Color property
handshaking = obj.Api.Handshake;
end
function status = get.Status(obj)
%get.Status Custom getter for Status property
status = obj.Api.Bt.status;
end
function devicename = get.DeviceName(obj)
%get.DeviceName Custom getter for DeviceName property
devicename = obj.Api.DeviceName;
end
function set.BackLEDBrightness(obj, brightness)
%set.BackLEDBrightness Custom setter for BackLEDBrightness property
if brightness>0 && brightness<1
brightness = uint8(brightness*(obj.Api.Uint8Max)); %#ok<MCSUP>
end
[responseexpected, seq] = sendCmd(obj.Api, 'setbackled', [], [],[], brightness); %#ok<MCSUP>
result = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout); %#ok<MCSUP>
if responseexpected && ~isempty(result)
error('Sphero:BackLEDBrightness:NotSet', 'Brightness of Back LED could not be set. Please check the connection and retry')
end
obj.BackLEDBrightness = brightness;
end
function set.SensorPolling(obj,val)
%set.SensorPolling Custom setter for SensorPolling property
obj.SensorPolling = val;
obj.Api.Sensors = obj.SensorPolling.sensors; %#ok<MCSUP>
obj.Api.SamplesPerPacket = obj.SensorPolling.samplesPerPacket; %#ok<MCSUP>
end
function set.CollisionDetection(obj, flag)
%set.CollisionDetection Custom setter for CollisionDetection property
p = inputParser;
addRequired(p, 'objectname');
addRequired(p, 'flag', @(x) isnumeric(x) && (x==0 || x==1));
parse(p, obj, flag);
%Default values for collision detection parameters
xt = 100;
xspd = 100;
yt = 100;
yspd = 100;
dead = 100; % 1 second
if obj.Handshake %#ok<MCSUP>
result = configureCollisionDetection(obj, p.Results.flag, xt, xspd, yt, yspd, dead);
if ~result
error('Sphero:CollisionDetection:NoResponse', 'Collision Detection not configured. Please check connection and try again');
end
else
configureCollisionDetection(obj, flag, xt, xspd, yt, yspd, dead);
end
obj.CollisionDetection = flag;
end
function set.MotionTimeout(obj, time)
%set.MotionTimeout Custom setter for MotionTimeout property
p = inputParser;
addRequired(p, 'objectname');
addRequired(p, 'time', @(x) isnumeric(x) && ((x>=0 && x<=intmax('uint16')/1000) || isinf(x)));
parse(p, obj, time);
if isinf(p.Results.time)
time = intmax('uint16')/1000;
end
timeout = time*1000;
[responseexpected, seq] = sendCmd(obj.Api, 'setmotionto', [], [],[], timeout); %#ok<MCSUP>
result = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout); %#ok<MCSUP>
if responseexpected && ~isempty(result)
error('Sphero:MotionTimeout:NotSet', 'Motion timeout could not be set. Please check the connection and retry');
end
obj.MotionTimeout = time;
end
function set.InactivityTimeout(obj, time)
%set.InactivityTimeout Custom setter for InactivityTimeout property
p = inputParser;
addRequired(p, 'objectname');
addRequired(p, 'time', @(x) isnumeric(x) && (x>=60 && x<=intmax('uint16')));
parse(p, obj, time);
[responseexpected, seq] = sendCmd(obj.Api, 'setinactivetimer', [], [],[], time); %#ok<MCSUP>
result = readResponse(obj.Api, responseexpected, seq, obj.ResponseTimeout); %#ok<MCSUP>
if responseexpected && ~isempty(result)
error('Sphero:InactivityTimeout:NotSet', 'Inactivity timeout could not be set. Please check the connection and retry');
end
obj.InactivityTimeout = time;
end
end
end