Contents
classdef mFinch < handle
% mFinch MATLAB Class for your Finch Robot that is consistent with the % Java interface, but uses MATLAB plots for the graphics and has a simulation mode. % % Please visit http://www.finchrobot.com for more information about % the Finch Robot teaching platform. % % Usage: % x=mFinch(); % Connects to Finch so make sure your hardware is % connected % % x=mFinch('test'); % Creates Finch object using simulation. This % allows you to run your code even if you don't have a Finch % connected. Simulated sensor output returns random data. % MATLAB Support Package for Finch Robot % Version 1.0 % Copyright 2011 The MathWorks, Inc.
See getting started guide in pdf here or in html here
Properties
properties (Access=private)
javaObj = [];
end
properties (Hidden=true)
chkp = true; % Checks parameters before every operation
hLightSensor = []; % Graphics handle to Light Sensor graph
hAccelerometer = [];% Graphics handle to Accelerometer graph
hTemperature = [];% Graphics handle to Temperature graph
end
Methods
methods
function obj = mFinch(varargin) %MFINCH Constructor % check nargin if nargin==0 try if isempty(regexp(javaclasspath,'finch.jar','once')) javaaddpath finch.jar 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 make sure this file is located with the mFinch.m file']); end else disp('Note: DEMO connection will be created'); disp('Do not pass anything to constructor to connect with the hardware.'); obj.javaObj = []; obj.chkp = false; % Used to flag Simulation mode end end function delete(obj) % distructor, closes connection and deletes object if obj.chkp obj.javaObj.quit(); end end function disp(obj) % display % disp, displays the object if obj.chkp disp('Connected to your Finch'); else disp('Currently using Simulation mode'); end mFinch.getMethods(); end
UTILITIES
function buzz(obj,freq,duration) % buzz(frequency, duration) % Plays a tone at the specified frequency for the specified % duration in milliseconds on the Finch's internal buzzer. % Error checking on passed parameters validateattributes(freq,{'numeric'},{'real','scalar','<',8192,'>',100},'buzz','frequency',1); validateattributes(freq,{'numeric'},{'real','finite','scalar','nonnegative'},'buzz','duration',2); if obj.chkp obj.javaObj.buzz(freq,duration); else % Simulate the buzz sound from Finch freqArray = sin(2*pi*(0:1/8192:duration/1000)*freq); %Expect duration to be in milliseconds sound(freqArray); end end function sleep(obj,val) % sleep(duration) % This method uses Thread.sleep to cause the currently running % program to sleep for the specified number of milliseconds. validateattributes(val,{'numeric'},{'real','finite','scalar','nonnegative'},'sleep','time',1); if obj.chkp obj.javaObj.sleep(val); else pause(val/1000); % They should pass value in milliseconds end end function playClip(obj,str) % playClip(String fileLocation) % Plays a wav file over computer speakers at the specificied fileLocation path. [y,fs,nbits]=wavread(str); %%TODO need to make sure the file exists and is a .wav file sound(y,fs,nbits); end function playTone(obj,frequency,duration,c) % playTone(frequency, duration) % Plays a tone over the computer speakers or headphones at a given frequency (in Hertz) for a specified duration in milliseconds % % playTone(int frequency, int volume, int duration) % Plays a tone over the computer speakers or headphones at a given frequency (in Hertz) for a specified duration in milliseconds at a specified volume validateattributes(frequency,{'numeric'},{'real','scalar','<',8192,'>',100},'playTone','frequency',1); if exist('c','var') validateattributes(c,{'numeric'},{'real','finite','scalar','nonnegative'},'playTone','duration',2); freqArray = sin(2*pi*(0:1/8192:c*1000)*frequency)*duration; else validateattributes(duration,{'numeric'},{'real','finite','scalar','nonnegative'},'playTone','duration',2); freqArray = sin(2*pi*(0:1/8192:duration*1000)*frequency); end sound(freqArray); 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. It also calls the % destrutor on the object delete(obj); end function saySomething(obj,str,rep) % saySomething(String sayThis) % Takes the text of 'sayThis' and synthesizes it into a sound file and plays the sound file over computer speakers. % % saySomething(String sayThis, int duration) % Takes the text of 'sayThis' and synthesizes it into a sound file and plays the sound file over computer speakers. %%TODO Check for valid input if obj.chkp if exist('rep','var') obj.javaObj.saySomething(str,rep); else obj.javaObj.saySomething(str); end else %%TODO Add speach on Windows using .NET interface to speach end end
MOTOR CONTROL
function stopWheels(obj) % stopWheels() % Stops both wheels. if obj.chkp obj.javaObj.stopWheels(); end end function setWheelVelocities(obj,leftWheel,rightWheel,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. validateattributes(leftWheel,{'numeric'},{'real','finite','scalar','<=',255,'>=',-255},'setWheelVelocities','LeftVelocity',1); validateattributes(rightWheel,{'numeric'},{'real','finite','scalar','<=',255,'>=',-255},'setWheelVelocities','RightVelocity',2); if obj.chkp %setWheelVelocities(leftWheel,rightWheel,[lengthTime in msec]) if exist('duration','var') validateattributes(duration,{'numeric'},{'real','finite','scalar','nonnegative'},'setWheelVelocities','timeToHold',3); obj.javaObj.setWheelVelocities(leftWheel,rightWheel,duration); else obj.javaObj.setWheelVelocities(leftWheel,rightWheel); end end end
GET VALUE
function [Rval,Lvar]=getObstacleSensors(obj) % [R,L] = getObstacleSensors() % Returns the value of both obstacle sensors. if obj.chkp valArray = obj.javaObj.getObstacleSensors(); Rval = double(valArray(1)); Lval = double(valArray(2)); else Rval = round(rand(1)); Lval = round(rand(1)); end end function val = getTemperature(obj) % getTemperature() % The current temperature reading at the temperature probe. if obj.chkp val = double(obj.javaObj.getTemperature()); else val = rand(1)*100; end end function valArray = getAccelerations(obj) % val = getAccelerations() % Use this method to simultaneously return the current X, Y, and Z accelerations experienced by the robot. if obj.chkp valArray = double(obj.javaObj.getAccelerations()); else valArray = rand(3,1); end end function val = getXAcceleration(obj) % val = getXAcceleration() % This method returns the current X-axis acceleration value experienced by the robot. if obj.chkp val = double(obj.javaObj.getXAcceleration()); else val = rand(1); end end function val = getYAcceleration(obj) % val = getYAcceleration() % This method returns the current Y-axis acceleration value experienced by the robot. if obj.chkp val = double(obj.javaObj.getYAcceleration()); else val = rand(1); end end function val = getZAcceleration(obj) % val = getZAcceleration() % This method returns the current Z-axis acceleration value experienced by the robot. if obj.chkp val = double(obj.javaObj.getZAcceleration()); else val = rand(1); end end function valArray = getLightSensors(obj) % getLightSensors() % Returns a 2 integer array containing the current values of both light sensors. if obj.chkp valArray = double(obj.javaObj.getLightSensors()); else valArray = rand(2,1); end end function val = getRightLightSensor(obj) % getRightLightSensor() % Returns the value of the right light sensor if obj.chkp val = double(obj.javaObj.getRightLightSensor()); else val = rand(1); end end function val = getLeftLightSensor(obj) % getLeftLightSensor() % Returns the value of the left light sensor if obj.chkp val = double(obj.javaObj.getLeftLightSensor()); else val = rand(1); end end
SET
function setLED(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. validateattributes(red,{'numeric'},{'scalar','nonnegative','<=',255},'setLED','red',1); validateattributes(green,{'numeric'},{'scalar','nonnegative','<=',255},'setLED','green',2); validateattributes(blue,{'numeric'},{'scalar','nonnegative','<=',255},'setLED','blue',3); if obj.chkp if exist('duration','var') validateattributes(red,{'numeric'},{'real','finite','scalar','nonnegative'},'setLED','duration',3); obj.javaObj.setLED(red,green,blue,duration); else obj.javaObj.setLED(red,green,blue); end end end
IS functions
function val = isFinchUpsideDown(obj) % isFinchUpsideDown() % This method returns true if the Finch is upside down, false otherwise if obj.chkp val = boolean(obj.javaObj.isFinchUpsideDown()); else val = round(rand(1)); end end function val = isLeftWingDown(obj) % isLeftWingDown() % This method returns true if the Finch's left wing is pointed % at the ground if obj.chkp val = boolean(obj.javaObj.isLeftWingDown()); else val = round(rand(1)); end end function val = isRightWingDown(obj) % isRightWingDown() % This method returns true if the Finch's right wing is pointed at the ground if obj.chkp val = boolean(obj.javaObj.isRightWingDown()); else val = round(rand(1)); end end function val = isFinchLevel(obj) % isFinchLevel() % This method returns true if the Finch is on a flat surface if obj.chkp val = boolean(obj.javaObj.isFinchLevel()); else val = boolean(round(rand(1))); end end function val = isTemperature(obj,val) % isTemperature(double limit) % Returns true if the temperature is greater than the value specified by limit, false otherwise. if obj.chkp val = boolean(obj.javaObj.isTemperature(val)); else t = obj.getTemperature(); val = (t>=val); end end function val = isLeftLightSensor(obj,sensorVal) % isLeftLightSensor(int limit) % Returns true if the left light sensor is great than the value specified by limit, false otherwise. if obj.chkp val = boolean(obj.javaObj.isLeftLightSensor(sensorVal)); else val = boolean(round(rand(1))); end end function val = isRightLightSensor(obj,sensorVal) % val = isRightLightSensor(int limit) % Returns true if the right light sensor is greater than the value specified by limit, false otherwise. if obj.chkp val = boolean(obj.javaObj.isRightLightSensor(sensorVal)); else val = boolean(round(rand(1))); end end function val = isObstacle(obj) % val = isObstacle() % Returns true if either left or right obstacle sensor detect an obstacle. if obj.chkp val = boolean(obj.javaObj.isObstacle()); else val = boolean(round(rand(1))); end end function val = isObstacleLeftSide(obj) % isObstacleLeftSide() % Returns true if there is an obstruction in front of the left side of the robot. if obj.chkp val = boolean(obj.javaObj.isObstacleLeftSide()); else val = boolean(round(rand(1))); end end function val = isObstacleRightSide(obj) % isObstacleRightSide() % Returns true if there is an obstruction in front of the right side of the robot. if obj.chkp val = boolean(obj.javaObj.isObstacleRightSide()); else val = boolean(round(rand(1))); end end function val = isBeakDown(obj) % val = isBeakDown() % This method returns true if the beak is pointed at the floor, % false otherwise if obj.chkp val = boolean(obj.javaObj.isBreakDown()); else val = boolean(round(rand(1))); end end function val = isBeakUp(obj) % val = isBeakUp() % This method returns true if the beak is up (Finch sitting on its tail), false otherwise if obj.chkp val = boolean(obj.javaObj.isBreakUp()); else val = boolean(round(rand(1))); end end function val = isShaken(obj) % val = isShaken() % Returns true if the Finch has been shaken since the last accelerometer read if obj.chkp val = boolean(obj.javaObj.isShaken()); else val = boolean(round(rand(1))); end end function val = isTapped(obj) % val = isTapped() % Returns true if the Finch has been tapped since the last accelerometer read if obj.chkp val = boolean(obj.javaObj.isTapped()); else val = boolean(round(rand(1))); end end
GRAPHICS
function showLightSensorGraph(obj) % showLightSensorGraph() % Displays a graph of the left and right light sensor values. [val]=obj.getLightSensors(); obj.hLightSensor=plot(1,[val(1);val(2)]); xlabel(get(obj.hLightSensor(1),'parent'),'Reading'); ylabel(get(obj.hLightSensor(1),'parent'),'Value'); set(obj.hLightSensor(1),'LineWidth',2); set(obj.hLightSensor(2),'LineWidth',2); drawnow; end function updateLightSensorGraph(obj,a,b) % updateLightSensorGraph(int leftSensor, int rightSensor) % Updates the light sensor graph with the left and right light sensor data. if ishandle(obj.hLightSensor(1)) xData = get(obj.hLightSensor(1),'xdata'); yData = get(obj.hLightSensor(1),'ydata'); set(obj.hLightSensor(1),'XData',[xData,xData(end)+1],'YData',[yData,a]); yData = get(obj.hLightSensor(2),'ydata'); set(obj.hLightSensor(2),'XData',[xData,xData(end)+1],'YData',[yData,b]); drawnow; else error('Plot closed'); end end function closeLightSensorGraph(obj) % closeLightSensorGraph() % Closes the opened Light sensor Graph if ishandle(obj.hLightSensor(1)) close(get(get(obj.hLightSensor(1),'parent'),'parent')); end obj.hLightSensor = []; end function showTemperatureGraph(obj) % showTemperatureGraph() % Displays a graph of the temperature value t=obj.getTemperature(); obj.hTemperature=plot(1,t); xlabel(get(obj.hTemperature,'parent'),'Reading'); ylabel(get(obj.hTemperature,'parent'),'Temperature'); set(obj.hTemperature,'LineWidth',2); drawnow; end function updateTemperatureGraph(obj,val) % updateTemperatureGraph(double temp) % Updates the temperature graph with the most recent temperature data if ishandle(obj.hTemperature) xData = get(obj.hTemperature,'xdata'); yData = get(obj.hTemperature,'ydata'); set(obj.hTemperature,'XData',[xData,xData(end)+1],'YData',[yData,val]); drawnow; else error('Plot closed'); end end function closeTemperatureGraph(obj) % closeTemperatureGraph() % Closes the opened temperature Graph if ishandle(obj.hTemperature) close(get(get(obj.hTemperature,'parent'),'parent')); end obj.hTemperature = []; end function showAccelerometerGraph(obj) % showAccelerometerGraph() % Displays a graph of the X, Y, and Z accelerometer values. val = obj.getAccelerations(); obj.hAccelerometer=plot3([0,val(1)],[0,val(2)],[0,val(3)]); xlabel(get(obj.hAccelerometer,'parent'),'X - Accelerometer'); ylabel(get(obj.hAccelerometer,'parent'),'Y - Accelerometer'); zlabel(get(obj.hAccelerometer,'parent'),'Z - Accelerometer'); set(obj.hAccelerometer,'LineWidth',2); drawnow; end function updateAccelerometerGraph(obj,a,b,c) % updateAccelerometerGraph(double xVal, double yVal, double zVal) % updates the accelerometer graph with accelerometer data specified by xVal, yVal, and zVal. if ishandle(obj.hAccelerometer) if nargin~=4 set(obj.hAccelerometer,'XData',[0,a(1)],'YData',[0,a(2)],'ZData',[0,a(3)]); else set(obj.hAccelerometer,'XData',[0,a],'YData',[0,b],'ZData',[0,c]); end drawnow; else error('Plot closed'); end end function closeAccelerometerGraph(obj) % closeAccelerometerGraph() % Closes the opened Accelerometer Graph if ishandle(obj.hAccelerometer) close(get(get(obj.hAccelerometer,'parent'),'parent')); end obj.hAccelerometer = []; end
end
static methods
methods(Static)
nicely formatted methods list with help links
function getMethods() % mFinch.getMethods() % Prints a nicely formatted list of Finch Robot's methods with links % to their relevant help dialogs. fprintf('\nMethods for mFinch Robot\n'); fprintf(' <a href="matlab:help mFinch.mFinch">mFinch()</a>\n'); fprintf(' <a href="matlab:help mFinch.delete">delete()</a>\n'); fprintf(' <a href="matlab:help mFinch.quit">quit()</a>\n'); fprintf('\nUtilities\n'); fprintf(' <a href="matlab:help mFinch.buzz">buzz(frequency,timeDuration)</a>\n'); fprintf(' <a href="matlab:help mFinch.playClip">playClip(wavFile)</a>\n'); fprintf(' <a href="matlab:help mFinch.playTone">playTone(frequency,timeDuration)</a>\n'); fprintf(' <a href="matlab:help mFinch.sleep">sleep(timeDuration)</a>\n'); fprintf(' <a href="matlab:help mFinch.saySomething">saySomething(text)</a>\n'); fprintf('\nMotor Control\n'); fprintf(' <a href="matlab:help mFinch.stopWheels">stopWheels()</a>\n'); fprintf(' <a href="matlab:help mFinch.setWheelVelocities">setWheelVelocities(LeftVelocity,RightVelocity,timeDuration)</a>\n'); fprintf('\nSet LED\n'); fprintf(' <a href="matlab:help mFinch.setLED">setLED(obj, red,green,blue,duration)</a>\n'); fprintf('\nGet Sensor Data\n'); fprintf(' <a href="matlab:help mFinch.getObstacleSensors">[R,L]=getObstacleSensors()</a>\n'); fprintf(' <a href="matlab:help mFinch.getTemperature">temp = getTemperature()</a>\n'); fprintf(' <a href="matlab:help mFinch.getAccelerations">varArray = getAccelerations()</a>\n'); fprintf(' <a href="matlab:help mFinch.getAccelerations">varArray = getAccelerations()</a>\n'); fprintf(' <a href="matlab:help mFinch.getXAccelerations">var = getXAccelerations()</a>\n'); fprintf(' <a href="matlab:help mFinch.getYAccelerations">var = getYAccelerations()</a>\n'); fprintf(' <a href="matlab:help mFinch.getZAccelerations">var = getZAccelerations()</a>\n'); fprintf(' <a href="matlab:help mFinch.getLightSensors">varArray = getLightSensors()</a>\n'); fprintf(' <a href="matlab:help mFinch.getRightLightSensors">var = getRightLightSensors()</a>\n'); fprintf(' <a href="matlab:help mFinch.getLeftLightSensors">var = getLeftLightSensors()</a>\n'); fprintf('\nBoolean Tests\n'); fprintf(' <a href="matlab:help mFinch.isFinchUpsideDown">boolean = isFinchUpsideDown()</a>\n'); fprintf(' <a href="matlab:help mFinch.isLeftWingDown">boolean = isLeftWingDown()</a>\n'); fprintf(' <a href="matlab:help mFinch.isRightWingDown">boolean = isRightWingDown()</a>\n'); fprintf(' <a href="matlab:help mFinch.isFinchLevel">boolean = isFinchLevel()</a>\n'); fprintf(' <a href="matlab:help mFinch.isTemperature">boolean = isTemperature(testVal)</a>\n'); fprintf(' <a href="matlab:help mFinch.isLeftLightSensor">boolean = isLeftLightSensor(testVal)</a>\n'); fprintf(' <a href="matlab:help mFinch.isRightLightSensor">boolean = isRightLightSensor(testVal)</a>\n'); fprintf(' <a href="matlab:help mFinch.isObstacle">boolean = isObstacle()</a>\n'); fprintf(' <a href="matlab:help mFinch.isObstacleLeftSide">boolean = isObstacleLeftSide()</a>\n'); fprintf(' <a href="matlab:help mFinch.isObstacleRightSide">boolean = isObstacleRightSide()</a>\n'); fprintf(' <a href="matlab:help mFinch.isBeakDown">boolean = isBeakDown()</a>\n'); fprintf(' <a href="matlab:help mFinch.isBeakUp">boolean = isBeakUp()</a>\n'); fprintf(' <a href="matlab:help mFinch.isShaken">boolean = isShaken()</a>\n'); fprintf(' <a href="matlab:help mFinch.isTapped">boolean = isTapped()</a>\n'); fprintf('\nGraphics\n'); fprintf(' <a href="matlab:help mFinch.showLightSensorGraph">showLightSensorGraph()</a>\n'); fprintf(' <a href="matlab:help mFinch.updateLightSensorGraph">updateLightSensorGraph()</a>\n'); fprintf(' <a href="matlab:help mFinch.closeLightSensorGraph">closeLightSensorGraph()</a>\n'); fprintf(' <a href="matlab:help mFinch.showTemperatureGraph">showTemperatureGraph()</a>\n'); fprintf(' <a href="matlab:help mFinch.updateTemperatureGraph">updateTemperatureGraph()</a>\n'); fprintf(' <a href="matlab:help mFinch.closeTemperatureGraph">closeTemperatureGraph()</a>\n'); fprintf(' <a href="matlab:help mFinch.showAccelerometerGraph">showAccelerometerGraph()</a>\n'); fprintf(' <a href="matlab:help mFinch.updateAccelerometerGraph">updateAccelerometerGraph()</a>\n'); fprintf(' <a href="matlab:help mFinch.closeAccelerometerGraph">closeAccelerometerGraph()</a>\n'); fprintf('\n'); end
end
end