classdef finchComm < handle
%FINCHCOMM Base communication to Finch
% Currently this uses the Java interface to communicate with the
% Finch. This interface shows the commands used to communicate with
% the Finch HID device.
%
% For more information please see
% <http://www.finchrobot.com/usb-protocol USB Protocol> for information
%% Properties
properties (Access=private)
javaObj = [];
end
properties (Hidden=true)
simulation = true; % Checks parameters before every operation
end
methods
function obj = finchComm(varargin)
%Finch Constructor
% check nargin
if nargin==0
try
if isempty(regexp(javaclasspath,'finch.jar','once'))
if ispref('Finch')
javaaddpath(getpref('Finch','FinchJavaDir'));
else
javaaddpath([fileparts(mfilename('fullpath')),filesep,'Finch Software',filesep,'SourceFiles',filesep,'finch.jar']);
addpref('Finch', 'FinchJavaDir',[fileparts(mfilename('fullpath')),filesep,'Finch Software',filesep,'SourceFiles',filesep,'finch.jar']);
end
end
%import edu.cmu.ri.createlab.terk.robot.finch.*
obj.javaObj = edu.cmu.ri.createlab.terk.robot.finch.Finch();
catch ME
error(['Was not able to find/load the finch.jar file. ',...
'Please run Finch.setup to install Finch Java Files.']);
end
obj.simulation = false;
else
disp('Note: DEMO connection will be created');
disp('Do not pass anything to constructor to connect with the hardware.');
obj.javaObj = [];
obj.simulation = true; % Used to flag Simulation mode
end
end
function delete(obj)
% distructor, closes connection and deletes object
if ~obj.simulation
obj.javaObj.quit();
end
end
function varargout = disp(obj) % display
% disp, displays the object
if obj.simulation
disp('Currently using Simulation mode');
if nargout==1; varargout = {'Currently using Simulation mode'};end
else
disp('Connected to your Finch');
if nargout==1; varargout = {'Connected to your Finch'};end
end
end
%%
function led(obj, red, green, blue,duration)
%SETLED(RGB Color Value)
%
% setLED(int red, int green, int blue)
% Sets the color of the LED in the Finch's beak
%
% setLED(int red, int green, int blue, int duration)
% Sets the color of the LED in the Finch's beak for the length of time specified by duration.
%
% 'O' - control full-color LEDs (Orbs)
if ~obj.simulation
if exist('duration','var')
obj.javaObj.setLED(red,green,blue,duration);
else
obj.javaObj.setLED(red,green,blue);
end
end
end
function motor(obj,rightM, leftM, duration)
% setWheelVelocities(int leftVelocity, int rightVelocity)
% This method simultaneously sets the velocities of both wheels.
%
% setWheelVelocities(int leftVelocity, int rightVelocity, int timeToHold)
% This method simultaneously sets the velocities of both wheels.
% 'M' - control the velocity of the motors
if ~obj.simulation
%setWheelVelocities(leftM,rightM,[lengthTime in msec])
if exist('duration','var')
obj.javaObj.setWheelVelocities(leftM,rightM,duration);
else
obj.javaObj.setWheelVelocities(leftM,rightM);
end
end
end
function buzz(obj, freq, duration)
% buzz(int frequency, int duration)
% Plays a tone at the specified frequency for the specified duration on the Finch's internal buzzer.
% 'B' - sets the buzzer to chirp for some period of time
if obj.simulation
% Simulate the buzz sound from Finch
freqArray = sin(2*pi*(0:1/8192:duration/1000)*freq); %Expect duration to be in milliseconds
sound(freqArray);
else
obj.javaObj.buzz(freq,duration);
end
end
function val = temperature(obj)
% getTemperature()
% The current temperature reading at the temperature probe.
% 'T' - gets the temperature
if obj.simulation
val = round(rand(1)^2*100);
else
val = obj.javaObj.getTemperature();
val = double(val);
end
end
function valArray = lightSensors(obj)
% getLightSensors()
% Returns a 2 integer array containing the current values of both light sensors.
% 'L' - gets the values of the two light sensors
if obj.simulation
valArray = round(rand(1,2));
else
valArray = obj.javaObj.getLightSensors();
valArray = double(valArray);
end
end
function valArray = accelerometer(obj)
% val = getAccelerations()
% Use this method to simultaneously return the current X, Y, and Z accelerations experienced by the robot.
% 'A' - gets the accelerometer values of the X, Y, and Z axes, and the tap/shake byte.
if obj.simulation
valArray = round(rand(1,3));
else
valArray = obj.javaObj.getAccelerations();
valArray = double(valArray);
end
end
function valArray = obstacleSensors(obj)
% [R,L] = getObstacleSensors()
% Returns the value of both obstacle sensors.
% 'I' - gets the values of the two obstacle sensors
if obj.simulation
valArray = round(rand(1,2));
else
valArray = obj.javaObj.getObstacleSensors();
valArray = double(valArray);
end
end
function stop(obj)
% stopWheels()
% Stops both wheels.
% 'X' - set all motors and LEDs to off
if ~obj.simulation
obj.javaObj.stopWheels();
end
end
function quit(obj)
% quit - This method properly closes the connection with the Finch and resets the Finch so that it is immediately ready to be controlled by subsequent programs.
% 'R' - turns off the motor and has the Finch go back into color-cycling mode (this is how we indicate that the Finch connection is closed).
if ~obj.simulation
obj.javaObj.quit();
end
end
function sendZ(obj)
% 'z' - Just sends a counter value showing the number of times z has been sent (for basic connectivity testing).
disp('Not Implemented');
end
end
methods(Static)
%% Install Java Support Code
function setup()
% Finch.setup()
% Walks users through getting connectivity code
% Installs code in the same place as this file
packageParentDir = fileparts(mfilename('fullpath'));
defaultFinchDir = packageParentDir;%fullfile(getenv('SYSTEMDRIVE'), 'Finch');
mainpageUrl = 'http://www.finchrobot.com/downloads';
if ismac
packageUrl = 'http://www.finchrobot.com/sites/default/files/Mac/FinchJava.zip';
elseif ispc
packageUrl = 'http://www.finchrobot.com/sites/default/files/Windows/FinchJava.zip';
end
choice = questdlg({'You need the Finch Software', ['(from ' mainpageUrl ')']}, ...
'Finch Java Source', 'Download and Install', 'Cancel', 'Download and Install');
switch choice
case 'Download and Install'
zipFile = fullfile(defaultFinchDir, 'FinchJava.zip');
h = waitbar(0.25, 'Downloading the Java (~ 8.8 MB) ...');
try
urlwrite(packageUrl, zipFile);
catch ME
delete(h)
error('Finch:DownloadFailed',['Unable to download the FinchJava. Check your internet connection.' char(10)...
'If you are connected to the internet and still see this error,' char(10)...
'see www.finchrobot.com for troubleshooting information.']);
end
waitbar(0.75, h, 'Unzipping the FinchJava ...');
try
unzip(zipFile, defaultFinchDir);
catch ME
delete(h);
error('Finch:UnzipFailed',['Unable to unzip the FinchJava' char(10)...
'See www.finchrobot.com for troubleshooting instructions.']);
end
delete(h);
FINCHJAVADir = fullfile(defaultFinchDir, 'FinchJava.zip');
fprintf('# Installed FinchJava Software to %s\n', FINCHJAVADir);
case 'Cancel'
fprintf('# Cancelling Finch package setup\n');
return;
end
addpref('Finch', 'FinchJavaDir',[defaultFinchDir,filesep,'Finch Software',filesep,'SourceFiles',filesep,'finch.jar']);
fprintf('# Added Finch package to MATLAB path\n');
%% Add Finch.jar to the Java Path
javaaddpath([defaultFinchDir,filesep,'Finch Software',filesep,'SourceFiles',filesep,'finch.jar']);
%% add package to MATLAB path
addpath(packageParentDir);
result = savepath;
if result==1
nl = char(10);
msg = ['# Unable to save updated MATLAB path (<a href="http://www.mathworks.com/support/solutions/en/data/1-9574H9/index.html?solution=1-9574H9">why?</a>)' nl ...
' To save the path, you can: ' nl ...
' 1) Exit MATLAB ' nl ...
' 2) Right-click the MATLAB icon and select "Run as administrator" ' nl ...
' 3) Re-run vellscope.setup ' nl ...
];
disp(msg);
else
fprintf('# Added ''%s'' to MATLAB path\n', packageParentDir);
end
nl = char(10);
msg = ['You can now navigate to any other directory and use the Finch package. ' nl ...
'See <a href="matlab:edit(''gettingStarted.m'')">this example</a> to get started' nl ...
];
disp(msg);
end
end
end
