The Arduino toolkit is a somewhat Matlab compatible arduino toolkit for GNU octave.
The Arduino toolkit must be installed and then loaded to be used.
It can be installed in GNU Octave directly from octave-forge, or can be installed in an off-line mode via a downloaded tarball.
|
NOTE The toolkit requires the Arduino IDE in order to program Arduino devices. |
|
NOTE The toolkit has a dependency on the instrument-control package, so it must be installed in order to successfully install the Arduino toolkit |
The toolkit must be then be loaded once per each GNU Octave session in order to use its functionality.
With an internet connection available, the Arduino package can be installed from octave-forge using the following command within GNU Octave:
pkg install -forge arduino
The latest released version of the toolkit will be downloaded and installed.
In order to use the arduino hardware with the toolkit, it must be programmed with special firmware.
To program the hardware, using a default configuration, run the arduinosetup command:
arduinosetup
A temporary Arduino project will be created, with the Arduino toolkit files copied to it and the Arduino IDE will open.
Set the board type and port correctly for the connected Arduino and press the upload button on the IDE.
The sources will be compiled and then uploaded to the connected arduino board.
After successful upload the Arduino IDE should be closed.
|
NOTE The arduino programming is not compatible with the Matlab arduino library, so must be programmed by the Octave Arduino toolkit to communicate to the arduino, even if it was previously used to work with Matlab. |
|
NOTE The toolkit requires the Arduino IDE in order to program the Arduino device. The binary can set using the ’arduinobinary’ property when running setup. For arduino IDEs before version 2, if the toolkit can not find the IDE, run the IDE manually, close it and retry programming the Arduino. Otherwise, use the ’arduino’ binary property. |
The board type must be known in order to successfully detect and connect to the Arduino board after programming.
Currently, known boards are:
|
NOTE The Arduino servo library code may require modifications to eliminate conflicts between servos and the tone library |
Additional boards can be added easily, however require minor code changes.
To control an arduino device, a connection must be made to it by creating an arduino object.
Assuming a single arduino device is connected to the computer, creating an arduino object with no arguments will find the connected arduino and connect to it:
ar = arduino()
Where multiple arduinos may be connected to the computer, a specific board can be connected by specifying the name of the port it is connected to:
ar = arduino("/dev/ttyACM0")
The port name will be operating system dependent.
To list the ports of all programmed available arduinos, the scanForArduinos function can be used:
scanForArduinos
It will provide a list of all available boards it can find with the port they are connected to.
|
NOTE The scanForArduinos function will only detect boards that have been programmed using the arduinosetup command |
Basic input and output can be performed on a connected arduino device using by calling the read and write functions for a specific named pin on the arduino.
A list of available pins can get found from the pins property of the connected arduino object and are also displayed as part of the default shown properties:
ar = arduino(); % get the pin names pins = ar.availablepins
Pin generally follow a naming scheme of D<number> for digital pins and A<number> for analog pins.
Digital pins can be used to read and write digital data, but can not read analog voltages. Analog pins can perform digital I/O as well as reading voltages.
A pin’s digital logic value can be true (1) or false (0) and can be set using the writeDigitalPin function.
The following example attempts to set the D2 pin of the connected arduino object "ar" to true, waits 5 seconds and then sets it to false:
writeDigitalPin (ar, "d2", true); pause 5 writeDigitalPin (ar, "d2", false);
Using the readDigitalPin will read the current logic state of the pin.
value = readDigitalPin (ar, "d2");
For analog pins, the voltage level can be read using a analog to digital conversion and will return a voltage level between 0 and the boards voltage (nominally 5V):
value = readVoltage (ar, "a0");
The raw digital value of the pin can also be read instead of a voltage, giving a value between 0 and 2^x where x is the number of bits used by the analog to digital converter.
value = readAnalogPin (ar, "a0");
The arduino toolkit supports more complex I/O for SPI, I2C, Servo control and more.
SPI communication can be performed by creating a SPI device object and then calling the writeRead function:
spi = device (ar, "spichipselectpin", "d2");
The function call expects a connected arduino object as the first argument, followed by the chip select pin of the SPI device.
After a device is created, a write to device followed by read can can be made using the writeRead function:
spi = device (ar, "spichipselectpin", "d2"); data = writeRead (spi, 100);
I2C communication can be performed by creating an I2C device object for a specific I2C address.
The following example creates an I2C device that will communicate with a I2C device at address 100"
i2c = device (ar, "i2caddress", 100);
After creating an I2C device, data can be read and written using read, write, readRegister and writeRegister. The data to send and receive will be device dependent.
Servo communication can be performed after creating a servo device object to operate on a PWM pin:
servoobj = servo(ar, "d9", "minpulseduration", 1.0e-3, ... "maxpulseduration", 2e-3);
The servo function expects the connected arduino object and the PWM pin that the servo is connected to. Optional properties can be specified to control the setup of device.
In the example, the min and max pulse width values are set.
Using the servo object the current position and be read or set with values ranging between 0 to 1, with 0 being the minimum pulse width and 1 being the maximum.
The following example sets the servo to its middle position.
servoobj = servo(ar, "d9", "minpulseduration", 1.0e-3, ... "maxpulseduration", 2e-3); writePosition (servoobj, 0.5);
A shift register can be controlled by creating a shiftRegister object:
registerobj = shiftRegister(ar, '74hc164', "d2", "d3");
The parameters required are dependent on the type of shift register created.
Once a register object has been created, it can be read and written to using the read and write functions.
A rotary encoder can be created by creating a rotaryEncoder object.
encoder = rotaryEncoder(ar, "d2", "d3", 180);
Using the created object, the rotary encoder value and speed can be read.
An ultrasonic sensor can be read by creating an ultrasonic object.
sensor = ultrasonic(ar, "d9", "d10");
Using the created object, the sensor distance and echo time and be read.
Serial communication can be performed on devices that support multiple serial devices such as the leonardo and mega2560 boards. The communications port to Octave is reserved and can not be used as a user controlled communications port.
Serial communication can be performed by creating a serial device object and then calling the read and write functions:
ser = device (ar, "serial", 1);
The function call expects a connected arduino object as the first argument, followed "serial" and serial id.
After a device is created, the device can be read and written:
ser = device (ar, "serial", 1); write(ser, "hello"); data = read(ser, 100);
This chapter provides an overview of the arduino package addon functionality for adding additional addons to arduino.
Addons provide a way of adding additional functionality to the arduino toolkit that provides Matlab access directly to the arduino hardware.
Addons are implemented in two parts.
Both parts are required to create a plugin.
The arduino toolkit provides a number of pre-created addons. These can be seen using the following command:
listArduinoLibraries
The command will display all known arduino libraries (addons as well as core libraries), however addons typically use a "foldername/classname" for this naming.
See also: listArduinoLibraries.
An addon requires at minimum 3 things:
So the addon directory structure at a minimum will be:
+arduinoioaddons (dir) [somewhere in the octave load path]
+MyAddons (dir)
MyAddon1.m
MyAddon1.h
The addon architecture looks for plugins in the octave load path in a package directory called +arduinoioaddons
So this directory must be created somewhere within the paths that octave will check for functions.
In addition, the addon architecture expects plugins to be contained in a sub directory within the +arduinoioaddons folder. The subdirectory must begin with a ’+’.
Multiple plugin .m files can be within the same sub directory.
The Matlab interface file within the addon directory provides the Matlab interface for the arduino code as well as provides information about the addon.
The interface file must be a subclass of arduinoio.LibraryBase and must contain some constant properties values that provide the information.
A minimum example of required is below:
classdef MyAddon1 < arduinoio.LibraryBase
properties(Access = protected, Constant = true)
LibraryName = 'MyAddons/MyAddon1';
CppHeaderFile = fullfile(arduinoio.FilePath(mfilename('fullpath')), 'MyAddon1.h');
CppClassName = 'MyAddon1';
endproperties
.
.
.
endclassdef
The following constant properties can be set within the addon:
(Required) The name of the addon. My convention this is usually the directoryname / theclassname
(Required) The header file for the arduino code
(Optional) The source file (if any) for the arduino code
(Required) The classname used within the cppheaderfile for the arduino library
(Optional) Any additional addons or cores that are needed for this library to be used
(Optional) Any additional header files that need to be included
The Matlab class constructor will be called from the addon function when creating a instance of the addon and should initialize at least two properties in inherited from arduinoio.LibraryBase:
classdef MyAddon1 < arduinoio.LibraryBase
.
.
methods
function obj = MyAddon1(parentObj, varargin)
obj.Parent = parentObj;
# no pins being used
obj.Pins = [];
# send any command to the arduino during setup ?
endfunction
.
.
endmethods
endclassdef
The class functions will usually communicate to the arduino and use the response for what is returned to the user.
By convention, the commands sent to the arduino are defined as constants in the class file but do not have to be.
classdef MyAddon1 < arduinoio.LibraryBase
properties(Access = private, Constant = true)
INIT_COMMAND = hex2dec('00');
FUNC1_COMMAND = hex2dec('01');
endproperties
.
.
methods
function obj = MyAddon1(parentObj, varargin)
obj.Parent = parentObj;
# no pins being used
obj.Pins = [];
# send any command to the arduino during setup ?
sendCommand(obj.Parent, obj.LibraryName, obj.INIT_COMMAND, []);
endfunction
function retval = func1(obj)
cmdID = obj.FUNC1_COMMAND;
retval = sendCommand(obj.Parent, obj.LibraryName, cmdID, []);
endfunction
.
.
endmethods
endclassdef
|
NOTE the sendCommand uses the objects parent for the arduino, the objects library name and the command id |
See also: sendCommand.
The header file should contain a class that matches the functionally and information of the matlab file and provides the ability to register the code on the arduino.
The following things should occur in the arduino class files:
An example, matching the previous .m file code is below:
#include "LibraryBase.h"
#define MYADDON1_INIT 0x00
#define MYADDON1_FUNC1 0x01
class MyAddon1 : public LibraryBase
{
uint8_t cnt;
public:
MyAddon1(OctaveArduinoClass& a)
{
libName = "MyAddons/MyAddon1";
a.registerLibrary(this);
}
void commandHandler(uint8_t cmdID, uint8_t* data, uint8_t datasz)
{
switch (cmdID)
{
case MYADDON1_INIT:
{
cnt = 0;
sendResponseMsg(cmdID, 0,0);
break;
}
case MYADDON1_FUNC1:
{
// func 1 is just returning a uint8 count of number of times called
cnt ++;
sendResponseMsg(cmdID, &cnt, 1);
break;
}
default:
{
// notify of invalid cmd
sendUnknownCmdIDMsg();
}
}
}
}
;
The body of functions can be in the CppSourceFile file is it is defined or within the header file as illustrated above.
Use the listArduinoLibaries command to verify that the new addon appears in the list of known libraries.
If it does not, ensure that the +arduinoioaddons directory is within one of the octave class paths, and that the directory structure and inheritance requirements have been met.
To use a addon, the code must be programmed onto the arduino.
Using the libraries command, when creating a arduino object, the arduino can be reprogrammed if the library does not already exist on the arduino.
ar = arduino([],[], 'libraries', 'MyAddons/MyAddon1', 'forcebuild', true)
The libraries property of the arduino object should list the libraries programmed on the arduino.
Alternatively, the library can be added using the libraries property and arduinosetup
See also: arduino, arduinosetup.
There are two types of sensors available:
Matlab compatible functions are provided for a number of sensors, using a similar function naming as provided by the Matlab arduino package.
The functions for each sensor is listed in the function reference, Sensors and provides for:
BME280 temperature, pressure and humidity sensor
BNO055 acceleration, angular velocity, orientation and magnetic field sensor
LIS3DH acceleration sensor
LPS22HB temperature and pressure sensor
LSM6DSO acceleration, angular velocity sensor
MPU-6050 acceleration, angular velocity sensor
SI7021 temperature and humidity sensor
Arduino sensors are a collection of lightweight wrappers around other underlying protocols for providing specific sensor functionality.
For instance a DS1307 chip communicates using I2C protocol and so a DS1307 class exists that provides the conversion/commands in order to communicate to the chip.
Using the class, providing the functionality is very easy:
a = arduino()
rtc = arduinosensor.DS1307(a)
# get and display rtc time as a date string
datestr(rtc.clock)
It is lightweight compared to the addon functionality, as it only requires a wrapper class rather than add on code, however it is limited to then using available addon and core codes rather than creating new ones.
Currently the are only a small number of sensors available, however this will be built upon in future versions.
The functions for each sensor is listed in the function reference, Arduino Sensors and provides for:
DS1307 RTC clock using i2c.
MPC3002 ADC using SPI
SI7021 temperature and humidity sensor
GUVAS12SD analog UV-B sensor
This example shows blinking the inbuilt LED on the Arduino board. Code is available by running:
edit examples/example_blink
This example uses in the builtin LED, so requires only a connection of the Arduino board to computer for communication.
ar = arduino ();
If you have more than one Arduino board connected, you may need to specify the port in order to connect to the correct device.
The pin connected to the Arduino UNO built in led if D13.
led_pin = "d13";
The connected pins can be queried programatically if desired.
pins = getLEDTerminals (ar);
Connected to a Arduino UNO would return a list pins containing only one item ’13’.
The terminal number can be converted to a pin using getPinsFromTerminals:
led_pin = getPinsFromTerminals (ar, pins{1});
Write a 0 value to the pin to turn it off.
writeDigitalPin (ar, led_pin, 0);
Write a 1 value to the pin to turn it on
writeDigitalPin (ar, led_pin, 1);
Add a while loop with a pause between the changes in the pin state to blink.
while true writeDigitalPin (ar, led_pin, 0); pause (0.5) writeDigitalPin (ar, led_pin, 1); pause (0.5) endwhile
This example shows using I2C to communicate with a EEPROM chip. Code is available by running:
edit examples/example_i2c_eeprom
Using an Arduino UNO, the board should be configured with the following connections between the board and a 24XX256 EEPROM chip:
Connected to pin 5 of EEPROM
Connected to pin 6 of EEPROM
Connected to pin 8 of EEPROM
Connected to pin 1,2,3,4 of EEPROM
ar = arduino ();
If you have more than one Arduino board connected, you may need to specify the port in order to connect to the correct device.
Display the I2C terminals of the board:
getI2CTerminals(ar)
scanI2Cbus(ar)
The devices listed should contain 0x50, the address of the EEPROM chip.
eeprom = device (ar, "i2caddress", 0x50)
The EEPROM expects the first byte to be the page number, the second the offset, followed by data, so to write 1 2 3 4, starting address 0 (page 0, offset 0):
write(eeprom, [0 0 1 2 3 4])
Reading from the EEPROM requires first writing the address to read from, in this case, if we want to read the 3, 4, this would be page 0, offset 2:
write(eeprom, [0 2])
Next read the 2 bytes:
data = read(eeprom, 2)
This example shows using SPI to communicate with an mcp3002 10 bit ADC. Code is available by running:
edit examples/example_spi_mcp3002
Using an Arduino UNO, the board should be configured with the following connections between the board and a mcp3002 chip:
Connected to pin 1 (CS) of MCP3002
Connected to pin 5 (DI) of MCP3002
Connected to pin 6 (DO) of MCP3002
Connected to pin 7 (CLK) MCP3002
Connected to pin 8 (VDD) MCP3002
Connected to pin 4 (VSS) MCP3002
Connected from pin 2 of the MCP3002 to a LOW (< 5V) voltage to measure
ar = arduino ();
If you have more than one Arduino board connected, you may need to specify the port in order to connect to the correct device.
adc = device(ar, "spichipselectpin", "d10")
The d10 is the chip select pin connected from the Arduino to the MCP3002.
The MCP3002 expects specific commands in order to read a channel.
For illustration for the command to read chan 0 in single ended mode:
command (bits) in MSB mode to device:
[START SGL ODN MSBF X X X X] [ X X X X X X X X ]
1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1
[chan 0 ] MSB
data back:
X X X X X 0 D D D D D D D D D D
D is a output data bit
X is a don’t care what value is input/output
The first byte contains the command and start of the data read back, the second bytes is written to clock out the rest of the ADC data.
In hex, this corresponds to 0xDF 0xFF,
data = writeRead(adc, [hex2dec("DF") hex2dec("FF")])
Of the data returned, the last 10 bits is the actual data, so convert data to a 16 bit value:
val = uint16(data(1))*256 + uint16(data(2))
Then bitand it to remove the non value parts, to get the ADC value:
val = bitand (val, hex2dec('3FF'))
To make the value correspond to a voltage it needs to be scaled as 0 will be 0 Volts, 1023 will be 5 Volts.
volts = double(val) * 5.0 / 1023.0;
The functions currently available in the Arduino toolkit are described below;
retval = arduinosetup ()retval = arduinosetup (propertyname, propertyvalue)Open the arduino config / programming tool to program the arduino hardware for usage with the Octave arduino functions.
arduinosetup will create a temporary project using the arduino IDE and allow compiling and programming of the code to an arduino.
propertyname, propertyvalue - A sequence of property name/value pairs can be given to set defaults while programming.
Currently the following properties can be set:
The value should be the name of a library, or string array of libraries to program on the arduino board.
The value should be the name/path of the arduino IDE binary for programming. If not specified, the function will use getpref preferences of arduino.arduino_binary, and if not found, the function will attempt to find the binary itself.
If provided, the value will be saved to preferences for future calls.
retval - return 1 if arduino IDE returned without an error
See also: arduino, __arduino_binary__.
retval = isarduino (obj)Check if input value is an arduino object
Function is essentially just a call of
retval = isa(obj, "arduino");
obj - The object to check
retval is true, if obj is an arduino object, false otherwise.
See also: arduino.
retval = listArduinoLibraries ()retval = listArduinoLibraries (libtypes)Retrieve list of all known arduino library modules that are available.
libtypes - optional specifier for type of libraries to list.
Options are:
List core and addons
List core only libraries
List addons only
When no libtypes is specified, all libraries are shown.
retval is an cell array of string library names that are available for programming to the arduino.
See also: arduino, arduinosetup.
retval = scanForArduinos ()retval = scanForArduinos (maxCount)retval = scanForArduinos ("debug")retval = scanForArduinos (maxCount, type)retval = scanForArduinos (propertyname, propertvalue ...)Scan system for programmed serial connected arduino boards.
scanForArduinos will scan the system for programmed arduino boards and return at most maxCount of them as a cell array in retval.
maxCount - max number of arduino boards to detect. if maxCount is not specified, or is a less than 1, the function will return as many arduino boards as it can detect.
type - optional board type to match. If specified, the board type must match for the arduino to be added to the return list.
"debug" - if single input parameter is "debug", the scanForArduinos will display debug information as it scans all available ports for arduinos.
propertyname, propertyvalue - property name/value pairs to match search with.
Numeric BaudRate to use when trying to scan for arduinos.
Max number of arduinos to scan for.
Boardtype to match.
Logical flag for debug mode.
retval structure cell array of matching detected arduino boards.
Each cell value of the cell array will contain a structure with values of:
the serial port the arduino is connected to
the board type of the arduino
See also: arduino.
retval = arduino ()retval = arduino (port)retval = arduino (port, board)retval = arduino (port, board[, [propname, propvalue]*)retval = arduino (iaddress)retval = arduino (ipaddress, board)Create a arduino object with a connection to an arduino board.
port - full path of serial port to connect to. For Linux, usually /dev/ttySXXX, for windows COMXX.
board - name of board to connect (default is ’uno’).
propname, propvalue - property name and value pair for additional properties to pass to the creation of the arduino object.
Currently properties are ignored, with the exception of:
true / false flag for whether setting debug (default false)
true / false flag for whether to force show of the arduino IDE to rebuild the installed code on the arduino (default false)
the communications baudrate to the board. (default 9600)
The libraries to be enabled on the arduino board. (default uses whatever is already installed)
if the arduino function is called without parameters, it will scan for the first available arduino it can find and connect to it.
retval - a successfully connected arduino object.
The arduino object has the following public properties:
name assigned to the arduino object
true / false flag for whether debug is turned on
true / false flag for whether to force show of the arduino IDE to reprogram the arduino
the communications port the board is connected to.
the communications baudrate to the board.
The name of the board type that the arduino connected to
The libraries currently programmed onto the board
The pins available for use on the board
The analog voltage reference
See also: scanForArduinos, arduinosetup.
retval = checkI2CAddress (ar, address)retval = checkI2CAddress (ar, address, bus)Check that an address of given address responds on the I2C bus
ar - arduino object connected to a arduino board.
address - I2C address number to check
bus - bus number to check for I2C device, when multiple buses are available. If the bus is not specified, it will default to 0.
retval - boolean value of true if address responds on the I2C bus
# create arduino connection.
ar = arduino();
# scan for devices on the I2C bus
checkI2CAddress (ar)
# output if a device using that address is attached
ans =
1
See also: arduino, scanI2Cbus.
currmode = configurePin (ar, pin)(ar, pin, mode)Set/Get pin mode for a specified pin on arduino connection.
configurePin (ar, pin) will get the current mode of the specified pin.
configurePin (ar, pin, mode) will attempt set the pin to the specified mode if the mode is unset.
ar - the arduino object of the connection to an arduino board.
pin - string name of the pin to set/get the mode of.
mode - string mode to set the pin to.
mode - string current mode of the pin.
Valid modes can be:
See also: arduino.
currmode = configurePinResource (ar, pin)(ar, pin, owner, mode)(ar, pin, owner, mode, force)Set/Get pin mode for a specified pin on arduino connection.
configurePinResource (ar, pin) will get the current mode of the specified pin.
configurePinResource (ar, pin, owner, mode) will attempt set the pin to the specified mode and owner.
If the pin is already owned by another owner, the configure will fail unless the force option is used. If the mode is already set, configure will fail unless force is used.
ar - the arduino object of the connection to an arduino board.
pin - string name of the pin to set/get the mode of.
mode - string mode to set the pin to.
owner - string name to use as the pin owner.
force - boolean to force mode change. If not set, it will be false.
currmode - current string mode of the pin.
Valid modes can be:
See also: arduino, configurePin.
count = decrementResourceCount (ar, resource)Decrement the count of a named resource by 1 and return the new count.
ar - connected arduino object
resource - name of resource to decrement count.
count = count of uses registered to resource.
See also: getResourceCount. incrementResourceCount.
(dev)Free resources of an arduino object.
dev - object to free
See also: arduino.
(ar)Display the arduino object in a verbose way, showing the board and available pins.
ar - the arduino object.
If the arduino object has debug mode set, additional information will be displayed.
See also: arduino.
mcu = getEndian (ar)Get the endian used by the connected arduino.
ar - arduino object connected to a arduino board.
endian - string representing the endian used by the arduino board.
’L’ means little endian, ’B’ means big endian
See also: arduino, getMCU.
pinlist = getI2CTerminals (ar)pinlist = getI2CTerminals (ar, bus)Get a cell list of pin Ids available are used for I2C mode.
ar - the arduino object.
bus - optional bus number 0 or 1 for boards that support more than 1 bus.
pinlist - cell list of pin numbers available for I2C use.
See also: arduino.
pinlist = getInterruptTerminals (ar)Get a cell list of pin Ids available have interrupt functionality
ar - the arduino object.
pinlist - cell list of pin numbers available for interrupt use.
See also: arduino.
pinlist = getLEDTerminals (ar)Get a cell list of pin Ids available are connected natively to LEDs.
ar - the arduino object.
pinlist - cell list of pin numbers available for LED use.
See also: arduino.
mcu = getMCU (ar)Get the MCU used by the connected arduino.
ar - arduino object connected to a arduino board.
mcu - string representing the mcu used by the arduino board.
See also: arduino.
pinlist = getPWMTerminals (ar)Get a cell list of pin Ids available for PWM use.
ar - the arduino object.
pinlist - cell list of pin numbers available for PWM use.
See also: arduino.
ouy = getPinAlias (ar, pin)Get the pin actual pin name from a pin alias.
For example, the arduino Leonardo, pin "D4" is also "A6".
ar - the connected arduino object.
pin - a pin name.
out - alias pin name, or same as pin if the pin doesnt have any alias names.
See also: arduino, configurePinResource, getResourceOwner.
pininfo = getPinInfo (ar, pin)pininfoarray = getPinInfo (ar, pinarray)Get the pin information from the input pins values.
getPinInfo (ar, pin) will get information for a single pin.
getPinInfo (ar, pinarray) will get a cell array of pin information
ar - the connected arduino object.
pin - a pin number or pin name.
pinarray - the array of pin numbers or names
The pininfo struct contains the following fields:
Terminal number of the pin
String name of the pin
Current item owner of the pin
Current configured mode for the pin
pininfo - struct on pin information.
pininfolist - cell array of pin info
See also: arduino, configurePinResource, getResourceOwner.
pinnames = getPinsFromTerminals (ar, terminals)Get the pin names from the input terminal values.
ar - the connected arduino object.
terminals - the numeric pin number, or array of pin numbers to get pin names.
pinnames - the string names of each input pin. If terminals was a single value, the return will be a single string, otherwise it will return a cell array of each pin name.
See also: arduino, getTerminalsFromPins.
count = getResourceCount (ar, resource)Get the count of uses of a given resource.
ar - connected arduino object
resource - name of resource to get count for.
count = count of uses registered to resource.
See also: incrementResourceCount. decrementResourceCount.
owner = getResourceOwner (ar, terminal)Get the owner of pin allocated previously by configurePinResource.
ar - connected arduino object
terminal - terminal number to get owner of.
owner = owner of the terminal pin, or "" if not owned.
See also: configurePinResource.
pinlist = getSPITerminals (ar)Get a cell list of pin Ids available for SPI mode.
ar - the arduino object.
pinlist - cell list of pin numbers available for SPI use.
See also: arduino.
pinlist = getServoTerminals (ar)Get a cell list of pin Ids available for servo use.
ar - the arduino object.
pinlist - cell list of pin numbers available for servo use.
See also: arduino, getPWMTerminals.
mode = getTerminalMode (ar, terminal)Get the mode of a pin allocated previously by configurePinResource.
ar - connected arduino object
terminal - terminal number to get owner of.
mode - mode of the terminal pin, or "not_set" if not owned.
See also: configurePinResource, getResourceOwner.
pinnums = getTerminalsFromPins (ar, pins)Get the terminal number for each pin.
ar - connected arduino object
pins - single pin name or cell or vector array of pin names.
pinnums - pin number of each named pin. If the input was a single string, returns a number. if the input pins was a vector or cell array, return a cell array of pin numbers corresponding to each input pin name.
See also: arduino, getPinsFromTerminals.
count = incrementResourceCount (ar, resource)Increment the count value of a named resource by 1 and return the new count
ar - connected arduino object
resource - name of resource to increment count.
count = count of uses registered to resource.
See also: getResourceCount. decrementResourceCount.
ret = isTerminalAnalog (obj, terminal)Return true if pin is capable of analog input
ar - the connected arduino object
terminal is a terminal number to check
ret return 1 if terminal is a analog pin, 0 otherwise
ret = isTerminalDigital(obj, terminal)Return true if pin is capable of digital functions
ar - the connected arduino object
terminal is a terminal number to check
ret return 1 if terminal is a digital pin, 0 otherwise
(ar, pin, freq, duration)Play a tone of a given frequency on a specified pin.
ar - connected arduino object
pin - digital pin to play tone on
freq - frequency in hertz to play between 0 and 32767Hz.
duration duration in seconds to play tone between 0 and 30 seconds
If duration is 0 or not specified, tone will continue to play until next tone is commanded. If frequency is 0, tone will stop playing
NOTE: use of playTone can interfere with PWM output.
value = readAnalogPin (ar, pin)Read analog voltage of pin.
ar - connected arduino object.
pin - string name of the pin to read.
value - analog value of the pin
ar = arduino ();
readAnalogPin(ar, "A4");
ans =
87
See also: arduino, readVoltage.
value = readDigitalPin (obj, pin)Read digital value from a digital I/O pin.
ar - connected arduino object.
pin - string name of the pin to read.
value - the logical value (0, 1, true false) of the current pin state.
a = arduino ();
pinvalue = readDigitalPin (a, 'D5');
See also: arduino, writeDigitalPin.
voltage = readVoltage (ar, pin)Read analog voltage of a pin.
ar - connected arduino.
pin - pin name or number to query for voltage
voltage - scaled pin value as a voltage
ar = arduino ();
readVoltage(ar, "A4");
ans =
1.401
See also: arduino, readAnalogPin.
(ar)Send reset command to arduino hardware to force a hardware reset.
ar - connected arduino object.
See also: arduino.
outdata, outsize = sendCommand (ar, libname, commandid)outdata, outsize = sendCommand (ar, libname, commandid, data)outdata, outsize = sendCommand (ar, libname, commandid, data, timeout)Send a command with option data to the connected arduino, waiting up to a specified number of seconds for a response.
ar - connected arduino object.
libname - library sending the command. The name should match a programmed library of the arduino, or an error will be displayed.
commandid - integer value for the command being sent to the arduino.
data - optional data sent with the command.
timeout - optional timeout to wait for data
outdata - data returned back from the arduino in response to command
outsize - size of data received
If the arduino fails to respond with a valid reply, sendCommand will error.
See also: arduino.
sec = uptime (ar)Get the number of seconds the arduino board has been running concurrently.
ar - the arduino object of the connection to an arduino board.
sec - the number seconds the board has been running. Note that the count will wrap around after approximately 50 days.
See also: arduino.
(ar, pin, type)Validate that the mode is allowed for specified pin
If the mode is not valid, and error will be thrown.
ar - connected arduino object
pin - name of pin to query mode validity of
mode - mode to query
Known modes are:
See also: arduino, configurePin.
ver = version (ar)Get version of library code installed on arduino board
ar - the arduino object of the connection to an arduino board.
ver - version string in format of X.Y.Z.
See also: arduino.
(ar, pin, value)Write digital value to a digital I/O pin.
ar - connected arduino object.
pin - string name of the pin to write to.
value - the logical value (0, 1, true false) to write to the pin.
If pin was unconfigured before using, pin is set into digital mode.
a = arduino();
writeDigitalPin(a,'D5',1);
See also: arduino, readDigitalPin.
(ar, pin, value)Set pin to output a square wave with a specified duty cycle.
ar - connected arduino object
pin - pin to write to.
value - duty cycle value where 0 = off, 0.5 = 50% on, 1 = always on.
a = arduino();
writePWMDutyCycle(a,'D5',0.5);
See also: arduino, writePWMVoltage.
(ar, pin, voltage)Emulate an approximate voltage out of a pin using PWM.
ar - connected arduino object
pin - pin to write to.
voltage - voltage to emulate with PWM, between 0 - 5.0
a = arduino();
writePWMVoltage(a,'D5',1.0);
See also: arduino, writePWMDutyCycle.
(dev)Free resources of a device object.
dev - object to free
See also: device.
(dev)Display device object.
dev - device object to display
See also: device.
data = read (dev, numbytes)data = read (dev, numbytes, precision)Read a specified number of bytes from a i2c or serial device object using optional precision for bytesize.
dev - connected i2c or serial device opened using device
numbytes - number of bytes to read.
precision - Optional precision for the output data read data. Currently known precision values are uint8 (default), int8, uint16, int16
data - data read from the device
See also: arduino, device.
data = readRegister (dev, reg, numbytes)data = readRegister (dev, reg, numbytes, precision)Read a specified number of bytes from a register of an i2cdev object using optional precision for bytesize.
dev - connected i2c device opened using device
reg - registry value number
numbytes - number of bytes to read.
precision - Optional precision for the output data read data. Currently known precision values are uint8 (default), int8, uint16, int16
data - data read from device.
See also: arduino, device.
(dev, datain)(dev, datain, precision)Write data to a I2C or serial device object using optional precision for the data byte used for the data.
dev - connected i2c or serial device opened using device
datain - data to write to device. Datasize should not exceed the constraints of the data type specified for the precision.
precision - Optional precision for the input write data. Currently known precision values are uint8 (default), int8, uint16, int16
See also: arduino, device, read.
(dev, reg, datain)(dev, dev, datain, precision)Write data to i2c device object at a given registry position using optional precision for the data byte used for the data.
dev - connected i2c device opened using device
reg - registry position to write to.
datain - data to write to device. Datasize should not exceed the constraints of the data type specified for the precision.
precision - Optional precision for the input write data. Currently known precision values are uint8 (default), int8, uint16, int16
See also: arduino, device, read.
(dev)Free resources of a i2cdev object.
dev - object to free
See also: i2cdev.
dev = i2cdev (ar, address)dev = i2cdev (ar, address, propname, propvalue)i2cdev is depreciated and will be removed in a future version.
Use device instead.
Create an i2cdev object to communicate to the i2c port on a connected arduino.
ar - connected arduino object
address - address to use for device on I2C bus.
propname, propvalue - property name/value pair for values to pass to devices.
Currently known properties:
bus number (when arduino board supports multiple I2C buses) with value of 0 or 1.
dev - new created i2cdev object.
The i2cdev object has the following public properties:
The parent (arduino) for this device
pins used by this object
bus used for created object
I2C address set for object
See also: arduino.
data = read (dev, numbytes)data = read (dev, numbytes, precision)Read a specified number of bytes from a i2cdev object using optional precision for bytesize.
dev - connected i2c device opened using i2cdev
numbytes - number of bytes to read.
precision - Optional precision for the output data read data. Currently known precision values are uint8 (default), int8, uint16, int16
data - data read from i2cdevice
See also: arduino, i2cdev.
data = readRegister (dev, reg, numbytes)data = readRegister (dev, reg, numbytes, precision)Read a specified number of bytes from a register of an i2cdev object using optional precision for bytesize.
dev - connected i2c device opened using i2cdev
reg - registry value number
numbytes - number of bytes to read.
precision - Optional precision for the output data read data. Currently known precision values are uint8 (default), int8, uint16, int16
data - data read from device.
See also: arduino, i2cdev.
(dev, datain)(dev, datain, precision)Write data to a i2cdev object using optional precision for the data byte used for the data.
dev - connected i2c device opened using i2cdev
datain - data to write to device. Datasize should not exceed the constraints of the data type specified for the precision.
precision - Optional precision for the input write data. Currently known precision values are uint8 (default), int8, uint16, int16
See also: arduino, i2cdev, read.
(dev, reg, datain)(dev, dev, datain, precision)Write data to i2cdev object at a given registry position using optional precision for the data byte used for the data.
dev - connected i2c device opened using i2cdev
reg - registry position to write to.
datain - data to write to device. Datasize should not exceed the constraints of the data type specified for the precision.
precision - Optional precision for the input write data. Currently known precision values are uint8 (default), int8, uint16, int16
See also: arduino, i2cdev, read.
retval = scanI2Cbus (ar)retval = scanI2Cbus (ar, bus)Scan arduino for devices on the I2C bus.
ar - arduino object connected to a arduino board.
bus - bus number to scan I2C devices, when multiple buses are available. If the bus is not specified, it will default to 0.
retval - cell array of addresses as strings in format of "0xXX".
# create arduino connection.
ar = arduino();
# scan for devices on the I2C bus
scanI2Cbus (ar)
# output is each detected i2c address as a string
ans =
{
[1,1] = 0x50
}
See also: arduino, i2cdev, checkI2CAddress.
(dev)Free resources of a encoder object.
dev - object to free
See also: rotartEncoder.
retval = disp (obj)Display the rotary encoder object in a verbose way,
obj - the arduino rotary encoder object created with rotaryEncoder
See also: rotaryEncoder.
[count, time] = readCount (obj)[count, time] = readCount (obj, name, value)read count value from the rotary encoder.
subsubheading Inputs obj - rotary encoder object created with rotaryEncoder call.
name, value - optional name,value pairs
Valid option name pairs currently are:
Reset the count after reading (if true)
count - returned count read from the encoder.
time - seconds since arduino started
See also: rotaryEncoder, resetCount.
speed = readSpeed (obj)read rotational speed from the rotary encoder.
obj - rotary encoder object created with rotaryEncoder call.
speed - returned speed in revolutions per minute read from the encoder.
See also: rotaryEncoder, resetCount.
reset (obj)reset (obj, cnt)reset the rotary encoder count values
obj - the rotaryEncoder object
cnt - optional count value to reset to
See also: rotaryEncoder, readCount.
obj = rotaryEncoder (ar, chanApin, chanBpin)obj = rotaryEncoder (ar, chanApin, chanBpin, ppr)Create a rotaryEncoder object controlled by the input pins.
ar - connected arduino object.
chanApin - pin used for channel A
chanBpin - pin used for channel B
ppr - count of encoder pulsed required for a full revolution of the encoder.
obj - created rotary encoder object
a = arduino (); enc = rotaryEncoder(a, "d2", "d3", 180);
The rotaryEncoder object has the following public properties:
The parent (arduino) for this device
pins used by this object
Number of pulses used per rotation
See also: arduino.
(dev)Free resources of a servo object.
dev - object to free
See also: servo.
(dev)Display servo object.
dev - servo device to display
See also: servo.
position = readPosition (servo)Read the position of a servo
servo - servo object created from arduino.servo.
position - value between 0 .. 1 for the current servo position, where 0 is the servo min position, 1 is the servo maximum position.
See also: servo, writePosition.
obj = servo (arduinoobj, pin)obj = servo (arduinoobj, pin, propertyname, propertyvalue)Create a servo object using a specified pin on a arduino board.
obj - servo object
arduinoobj - connected arduino object
propertyname, propertyvalue - name value pairs for properties to pass to the created servo object.
Current properties are:
min PWM pulse value in seconds.
max PWM pulse value in seconds.
obj - created servo object.
# create arduino connection ar = arduino(); # create hobby servo (1 - 2 ms pulse range) servo = servo(ar, "d9", "minpulseduration", 1.0e-3, "maxpulseduration", 2e-3); # center the servo writePosition(servo, 0.5);
The servo object has the following public properties:
The parent (arduino) for this device
pins used by this object
minpulseduration set for object
maxpulseduration set for object
See also: arduino, readPosition, writePosition.
(servo, position)Write the position to a servo.
servo - servo object created from arduino.servo.
position - value between 0 .. 1 for the current servo position, where 0 is the servo min position, 1 is the servo maximum position.
See also: servo, readPosition.
(dev)Free resources of a shiftRegister object.
dev - object to free
See also: shiftRegister.
(register)Display the register object in a verbose way,
register - the arduino register object created with shiftRegister.
See also: shiftRegister.
retval = read (register)retval = read (register, precision)read a value from the shift register.
register - shift register created from shiftRegister call.
precision - optional precision of the data, where precision can be a number in a multiple of 8 (ie: 8,16,32) or can be a named integer type: 8 of ’uint8’, ’uint16’, ’uint32’. The default precision is 8.
retval - returned data read from the register.
See also: shiftRegister, write.
reset (register)clear the shift register value.
register - shift register created from shiftRegister call.
See also: shiftRegister, read, write.
register = shiftRegister (ar, shifttype, dataPin, clockPin ...)register = shiftRegister (ar,'74hc164', dataPin, clockPin, resetPin)register = shiftRegister (ar,'74hc165', dataPin, clockPin, loadPin, clockEnablePin)register = shiftRegister(ar,'74hc595', dataPin, clockPin, latchPin , resetPin)Create shift register of a given type, controlled by the input pins.
Common function parameter definition:
ar - connected arduino object.
shifttype - string name of the shift register type.
dataPin - pin used for data in/out of the device.
clockPin - pin used for clocking data on the shiftRegister.
Other variables are dependent on the shift register type:
Additional inputs:
resetPin - optional pin for resetting the shift register.
Additional inputs:
loadPin - load pin to the shift register. clockEnablePin - clock enable pin.
Additional inputs:
latchPin - latching data to the shift register. resetPin - optional pin for resetting the shift register.
register - register object
The shiftRegister object has the following public properties:
The parent (arduino) for this device
pins used by this object
model set for object
See also: arduino.
val = subsref (dev, sub)subref for shiftRegister
See also: shiftRegister.
write (register, dataIn)write (register, dataIn, precision)Write a value to the shift register.
register - shift register created from shiftRegister call.
dataIn - data to clock into the shiftRegister.
precision - optional precision of the data, where precision can be a number in a multiple of 8 (ie: 8,16,32) or can be a named integer type of ’uint8’, ’uint16’, ’uint32’. The default precision is 8.
See also: shiftRegister, read.
(dev)Free resources of a device object.
dev - object to free
See also: device.
(dev)Display device object.
dev - device object to display
See also: device.
dataOut = readWrite (spi, dataIn)Write uint8 data to spi device and return back clocked out response data of same size.
spi - connected spi device on arduino
dataIn - uint8 sized data to send to spi device framed between SS frame.
dataOut - uint8 data clocked out during send to dataIn.
See also: arduino, device.
(dev)Free resources of a spidev object.
dev - spidev object to free
See also: spidev.
(dev)Display spidev object.
dev - spidev object to display
See also: spidev.
dev = spidev (ar, cspin)dev = spidev (ar, cspin, propname, propvalue)spidev is depreciated and will be removed in a future version.
Use device instead.
Create an spidev object to communicate to the SPI port on a connected arduino.
ar - connected arduino object
cspin - chip select pin for attached spi device.
propname, propvalue - property name/value pair for values to pass to devices.
Currently known properties:
bit rate speed in Mbs
’msbfirst’ or ’lsbfirst’
SPI mode 0 - 3.
dev - created spidev object
The spidev object has the following public properties:
The parent (arduino) for this device
pins used by this object
mode used for created object
Bitrate set for object
Bitorder set for object
Pin used for chipselect
See also: arduino, readWrite.
dataOut = readWrite (spi, dataIn)Write uint8 data to spi device and return back clocked out response data of same size.
spi - connected spi device on arduino
dataIn - uint8 sized data to send to spi device framed between SS frame.
dataOut - uint8 data clocked out during send to dataIn.
See also: arduino, spidev.
(dev)Free resources of a device object.
dev - object to free
See also: device.
dev = device (ar, 'I2CAddress', address)dev = device (ar, 'SPIChipSelectPin', pin)dev = device (ar, 'Serial', serialid)dev = device (..., propname, propvalue)Create an i2c, spi or serial object to communicate on a connected arduino.
ar - connected arduino object
propname, propvalue - property name/value pair for values to pass to devices.
A property of ’i2caddress’, ’spichipselectpin’ or ’serial’ must be specified to denote the device type to create.
i2caddress - address to use for device on I2C bus.
pin - pin to use for device SPI chip select.
serialid - Serial port id to use
Additional properties can also be specified for the device object
Currently known input I2C properties values:
bus number (when arduino board supports multiple I2C buses) with value of 0 or 1.
Do not probe the existence of device on creation if set to 1 (default 0)
bit rate speed in Mbs - default 100000
Currently known input SPI properties values:
bit rate speed in Mbs
’msbfirst’ or ’lsbfirst’
SPI mode 0 - 3.
Currently known input Serial properties values:
baudrate value (default 9600)
number of databits (5,6,7,8) (default 8)
number of stopbits (1,2) (default 1)
parity of device (’odd’,’even’,’none’) (default ’none’)
dev - new created device object.
The object has the following public properties:
The parent (arduino) for this device
The interface type for this device ("SPI" or "I2C" or "Serial")
In addition, depending on type, the object will have these properties:
The object has the following public properties:
bus used for created object
I2C address set for object
the SCL pin of the device
the SDA pin of the device
bit rate for the i2c clock
The object has the following public properties:
mode used for created object
Bitrate set for object
Bitorder set for object
Pin used for chipselect
Pin used for mosi
Pin used for miso
Pin used for sckpin
The object has the following public properties:
serial port id
baudrate
number of databits (5,6,7,8)
number of stopbits (1,2)
parity of device (’odd’,’even’,’none’)
See also: arduino, i2cdev, spidev.
(dev)Display device object.
dev - device object to display
See also: device.
data = flush (dev)data = flush (dev, "input")data = flush (dev, "output")Flush the serial port buffers
dev - connected serial device opened using device
If an additional parameter is provided of "input" or "output", then only the input or output buffer will be flushed
None
See also: arduino, device, read.
data = read (dev, numbytes)data = read (dev, numbytes, precision)Read a specified number of bytes from a i2c or serial device object using optional precision for bytesize.
dev - connected i2c or serial device opened using device
numbytes - number of bytes to read.
precision - Optional precision for the output data read data. Currently known precision values are uint8 (default), int8, uint16, int16
data - data read from the device
See also: arduino, device.
(dev, datain)(dev, datain, precision)Write data to a I2C or serial device object using optional precision for the data byte used for the data.
dev - connected i2c or serial device opened using device
datain - data to write to device. Datasize should not exceed the constraints of the data type specified for the precision.
precision - Optional precision for the input write data. Currently known precision values are uint8 (default), int8, uint16, int16
See also: arduino, device, read.
(dev)Free resources of a device object.
dev - object to free
See also: device.
dev = device (ar, 'I2CAddress', address)dev = device (ar, 'SPIChipSelectPin', pin)dev = device (ar, 'Serial', serialid)dev = device (..., propname, propvalue)Create an i2c, spi or serial object to communicate on a connected arduino.
ar - connected arduino object
propname, propvalue - property name/value pair for values to pass to devices.
A property of ’i2caddress’, ’spichipselectpin’ or ’serial’ must be specified to denote the device type to create.
i2caddress - address to use for device on I2C bus.
pin - pin to use for device SPI chip select.
serialid - Serial port id to use
Additional properties can also be specified for the device object
Currently known input I2C properties values:
bus number (when arduino board supports multiple I2C buses) with value of 0 or 1.
Do not probe the existence of device on creation if set to 1 (default 0)
bit rate speed in Mbs - default 100000
Currently known input SPI properties values:
bit rate speed in Mbs
’msbfirst’ or ’lsbfirst’
SPI mode 0 - 3.
Currently known input Serial properties values:
baudrate value (default 9600)
number of databits (5,6,7,8) (default 8)
number of stopbits (1,2) (default 1)
parity of device (’odd’,’even’,’none’) (default ’none’)
dev - new created device object.
The object has the following public properties:
The parent (arduino) for this device
The interface type for this device ("SPI" or "I2C" or "Serial")
In addition, depending on type, the object will have these properties:
The object has the following public properties:
bus used for created object
I2C address set for object
the SCL pin of the device
the SDA pin of the device
bit rate for the i2c clock
The object has the following public properties:
mode used for created object
Bitrate set for object
Bitorder set for object
Pin used for chipselect
Pin used for mosi
Pin used for miso
Pin used for sckpin
The object has the following public properties:
serial port id
baudrate
number of databits (5,6,7,8)
number of stopbits (1,2)
parity of device (’odd’,’even’,’none’)
See also: arduino, i2cdev, spidev.
(dev)Display device object.
dev - device object to display
See also: device.
data = flush (dev)data = flush (dev, "input")data = flush (dev, "output")Flush the serial port buffers
dev - connected serial device opened using device
If an additional parameter is provided of "input" or "output", then only the input or output buffer will be flushed
None
See also: arduino, device, read.
data = read (dev, numbytes)data = read (dev, numbytes, precision)Read a specified number of bytes from a i2c or serial device object using optional precision for bytesize.
dev - connected i2c or serial device opened using device
numbytes - number of bytes to read.
precision - Optional precision for the output data read data. Currently known precision values are uint8 (default), int8, uint16, int16
data - data read from the device
See also: arduino, device.
data = readRegister (dev, reg, numbytes)data = readRegister (dev, reg, numbytes, precision)Read a specified number of bytes from a register of an i2cdev object using optional precision for bytesize.
dev - connected i2c device opened using device
reg - registry value number
numbytes - number of bytes to read.
precision - Optional precision for the output data read data. Currently known precision values are uint8 (default), int8, uint16, int16
data - data read from device.
See also: arduino, device.
(dev, datain)(dev, datain, precision)Write data to a I2C or serial device object using optional precision for the data byte used for the data.
dev - connected i2c or serial device opened using device
datain - data to write to device. Datasize should not exceed the constraints of the data type specified for the precision.
precision - Optional precision for the input write data. Currently known precision values are uint8 (default), int8, uint16, int16
See also: arduino, device, read.
dataOut = readWrite (spi, dataIn)Write uint8 data to spi device and return back clocked out response data of same size.
spi - connected spi device on arduino
dataIn - uint8 sized data to send to spi device framed between SS frame.
dataOut - uint8 data clocked out during send to dataIn.
See also: arduino, device.
(dev, reg, datain)(dev, dev, datain, precision)Write data to i2c device object at a given registry position using optional precision for the data byte used for the data.
dev - connected i2c device opened using device
reg - registry position to write to.
datain - data to write to device. Datasize should not exceed the constraints of the data type specified for the precision.
precision - Optional precision for the input write data. Currently known precision values are uint8 (default), int8, uint16, int16
See also: arduino, device, read.
(dev)Free resources of a ultrasonic object.
dev - ultrasonic object to free
See also: ultrasonic.
(dev)Display ultrasonic object.
dev - ultrasonic object to display
See also: ultrasonic.
distance = readDistance (dev)Read the distance from a ultrasonic device
dev - connected ultrasonic device opened using ultrasonic
distance - distance value in meters from the ultrasonic device, or Inf if out of sensor range
See also: arduino, ultrasonic.
time = readEchoTime (dev)Measure the time for waves to reflect back to the ultrasonic device
dev - connected ultrasonic device opened using ultrasonic()
time - time in seconds, or Inf if out of sensor range
See also: arduino, ultrasonic.
dev = ultrasonic (ar, triggerpin)dev = ultrasonic (ar, triggerpin, echopin)dev = ultrasonic (ar, triggerpin, echopin, propname, propvalue)Create an ultrasonic object to communicate to a connected ultrasonic device
ar - connected arduino object
triggerpin - trigger pin for attached device.
echopin - trigger pin for attached device.
propname, propvalue - property name/value pair for values to pass to devices.
Currently known properties:
string designating number format for output (’double’)
dev - created ultrasonic object
The ultrasonic object has the following public properties:
The parent (arduino) for this device
pins used by this object
trigger used for created object
Echo pin set for object
Output format for the created object
See also: arduino, readDistance, readEchoTime.
retval = addon (ar, addonname)retval = addon (ar, addonname, varargs)Create an addon object using the addon named class.
ar - connected arduino object
addonname - the name of the addon to create. The addon name can be a user addon or an inbuilt addon, however must appear in the listArduinoLibraries output and have been programmed onto the arduino.
varargs - optional values that will be provided verbatim to the the addon class constructor.
retval - cell array of string library names.
See also: arduino, arduinosetup, listArduinoLibraries.
EEPROM addon for arduino
Allows read and write of uint8 data to the onboard arduino EEPROM.
Assuming eeprom addon has been programmed into the Arduino:
a = arduino ();
e = addon (a, "eepromaddon/eeprom");
write (e, 0, uint8("hello world"));
str = uint8( read(e, 0, 11) )
See also: addon.
length - Size of the EEPROM.
eeprom = EEPRom ()Constructor to create EEPROM device.
eeprom - created EEPROM device.
()Erase all values in EEPROM (Effectively setting the 0xFF)
(address, uintdata)Write data to EEPROM at the provided address.
address - start address to write data to, should be an integer between 0 and the size of the EEPROM.
uintdata a value or array of uint8 data to write to EEPROM.
data = read (address)data = read (address, count)Read data from starting address of EEPROM.
address - start address to read data from, should be an integer between 0 and the size of the EEPROM.
count - Number of uint8 values to read from the EEPROM (default is 1)
data a value or array of uint8 data read from the EEPROM.
Basic Example matlab/octave code to illustrate creating a user addon.
See also: addon.
Parent - the parent arduino object.
Pins - the pins allocated the addon.
obj = Echo(arObj)Constructor to create Echo addon
arObj - the arduino parent object
obj - created Echo object
response = shout(text)Send text to arduino and receive back the echoed reply
text - text to send to arduino
response - response from the arduino, which should be the same as the input text.
Basic Example octave addon for LCD
Allows basic manipulation of an LCD as a illustration of using the addon functionality.
Assuming the arduino has been programmed with the lcd addon:
a = arduino(); lcd = addon(a, "examplelcd/lcd", "d8", "d9", "d4", "d5", "d6", "d7") clearLCD(lcd); printLCD(lcd, "Hello"); # go to next line gotoLCD(lcd, 0, 1); printLCD(lcd, "World");
See also: addon.
Pins - the pins allocated the LCD display.
lcd = LCD(arObj, rs, enable, d0, d1, d2, d3)Constructor to create LCD device
arObj - the arduino parent object
rs - the pin to use for the rs line.
enable - the pin to use for the enable line.
d0 - the pin to use for the d0 line.
d1 - the pin to use for the d1 line.
d2 - the pin to use for the d2 line.
d3 - the pin to use for the d3 line.
lcd - created LCD object
Free the LCD
Should be called before discarding the LCD
None.
None.
Clear the LCD display and set the cursor position to the home position.
None.
None.
Display text on LCD starting at the current cursor position.
text - text to display on LCD
None.
row)Set the cursor position to row, col
col - 0 indexed LCD column to position to.
row - 0 indexed LCD row to position to.
None.
DS1307 addon
See also: addon.
Parent - the parent arduino object.
Pins - the pins allocated the addon.
obj = DS1307(arObj)obj = DS1307(arObj, propertyname, propertyvalue ....)Constructor to create DS1307 addon
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are:
I2C address of the DS1307 (default 0x68)
obj - created DS1307 object
a = arduino()
rtc = addon(a, "rtcaddon/ds1307")
date = clock(dsObj)date)Get/set the DS1307 clock
dsObj - the ds1307 object
date - a date vector in same format as datevec and clock
date - a date vector in same format as datevec and clock
a = arduino()
rtc = addon(a, "rtcaddon/ds1307")
# get and display rtc time as a date string
datestr(rtc.clock)
See also: datevec.
ctrl = control(dsObj)ctrl)Get/set the DS1307 clock
dsObj - the ds1307 object
ctrl - a structure containing the control bit fields.
ctrl - a structure containing the control bit fields.
Control structure fields are: Current properties are:
Out bit in the control register
Square wave enable bit in control register
The combined RS0, RS1 value
YN = isstarted(dsObj)Get whether the RTC clock is currently counting time
dsObj - the ds1307 object
YN - returns true if the RTC is counting
See also: start, stop.
Start the RTC counting
dsObj - the ds1307 object
None
See also: datevec.
Stop the RTC counting
dsObj - the ds1307 object
None
See also: datevec.
Stepper class for stepper control using ULN2003 and compatible drivers
Id of the stepper (Read only)
Number of steps to do per second.
Status of stepper (Read only). 0 = not moving, 1 = moving, 2 = rotating
the Arduino parent (read only)
the pins used for the stepper (read only)
obj = SimpleStepper(aObj, pin1, pin2, pin3, pin4)obj = SimpleStepper(aObj, pin1, pin2, pin3, pin4, pin5)Constructor to create a stepper object
aObj - The arduino
pin1 - The first pin of the controller
pin2 - The second pin of the controller
pin3 - The third pin of the controller
pin4 - The fourth pin of the controller
pin5 - The fifth pin of the controller
s - a simplestepper object
a = arduino()
# create stepper object
s = addon(a, "simplestepper/simplestepper", "d2", "d3", "d4", "d5")
# start rotating left
s.rotate(-1);
See also: addon.
steps)Move the motor the specified number of steps using the configured Speed.
sObj - the stepper object
steps - the number of steps to move. steps less than 0 will be moving left.
None
See also: rotate.
dir)Start steppermotor moving in the specified direction using the configured Speed.
sObj - the stepper object
dir - Direction to move. -1 = left, 0 = stop, 1 = right.
None
See also: move.
Release this stepper motor
sObj - the stepper object
None
DC Motor class for dc motor control on the adafruit motor shield
See also: arduinoioaddons.adafruit.motorshieldv2.
Speed - The speed value set for the motor
Parent - The parent shield for object (read only)
MotorNumber - The motor number (read only) values 1-4
IsRunning - boolean for if the motor is started (read only)
obj = dcmotorv2(mObj, mnum)obj = dcmotorv2(mObj, mnum, propertyname, propertyvalue ....)Constructor to create dcmotor object
mObj - the motor shield object
mnum - The motor number (1 - 4)
propertyname, propertyvalue - Optional property name/value pairs to pass to motor object.
Current known properties are:
Initial speed (default 0). Should be a value between -1 and 1.
s - a dcmotorv2 object
a = arduino()
ms = addon(a, "adafruit/motorshieldv2")
mtr = dcmotor(ms, 1)
Start the motor moving in previously set speed/direction
dcObj - the dcmotor object
None
See also: adafruit.motorshieldv2.
Stop the motor moving
dcObj - the dcmotor object
None
See also: adafruit.motorshieldv2.
Adafruit motor shield addon
See also: addon.
Parent - the parent arduino object.
Pins - the pins allocated the addon.
I2CAddress - the i2c address used for accessing this shield.
PWMFrequency - the set PWM frequency for this shield.
obj = motorshieldv2(arObj)obj = motorshieldv2(arObj, propertyname, propertyvalue ....)Constructor to create motorshieldv2 addon object
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are:
I2C address of the motor shield (default 0x60)
PWM Frequency to set on shield (default 1600)
obj - created motorshieldv2 object
a = arduino()
mtr = addon(a, "adafruit/motorshieldv2")
s = servo(mObj, mtrnum)s = servo(mObj, mtrnum, propertyname, propertyvalue ...)Create a servo object
mObj - the motor shield object
mtrnum - The servo motor number, where 1 is servo on pin "d10" and 2 is a servo on pin "d9"
propertyname, propertyvalue - Optional property name/value pairs to pass to servo object.
Properties are the same as the base servo object.
s - a servo object
a = arduino()
ms = addon(a, "adafruit/motorshieldv2")
# get servo 1 (servo on pin D10)
s = ms.servo(1)
The function if the equivalent of calling the arduino.servo with the D9 or D10 pin has the input pin.
See also: servo.
s = stepper(mObj, mtrnum, stepsperrev)s = stepper(mObj, mtrnum, stepsperrev, propertyname, propertyvalue ...)Create a stepper motor object
mObj - the motor shield object
mtrnum - The stepper motor number (1 or 2)
stepsperrev - Number of steps per revolution.
propertyname, propertyvalue - Optional property name/value pairs to pass to stepper object.
s - a stepper object
s = dcmotor(mObj, mtrnum)s = dcmotor(mObj, mtrnum, propertyname, propertyvalue ...)Create a dcmotor motor object
mObj - the motor shield object
mtrnum - The motor number (1 - 4)
propertyname, propertyvalue - Optional property name/value pairs to pass to motor object.
s - a dcmotorv2 object
Stepper class for stepper control on the adafruit motor shield
See also: arduinoioaddons.adafruit.motorshieldv2.
The rpm value set for the stepper motor
the StepType for the stepper (string) which can be "single", "double", "interleave" or "microstep"
the StepsPerRevoluion for the stepper (read only)
the motor number for the stepper (read only) value will be 1 or 2.
the parent shield of this stepper (read only)
obj = stepper(mObj, mnum, stepsperrev)obj = stepper(mObj, mnum, stepsperrev, propertyname, propertyvalue ....)Constructor to create dcmotor object
mObj - the motor shield object
mnum - The motor number (1 or 2)
stepsperrev - Number of steps per revolution.
propertyname, propertyvalue - Optional property name/value pairs to pass to motor object.
Current known properties are:
the RPM for the stepper (revolutions per minute)
the StepType for the stepper (string) which can be "single", "double", "interleave" or "microstep"
s - a stepper object
a = arduino()
ms = addon(a, "adafruit/motorshieldv2")
mtr = stepper(ms, 1, 200)
steps)Move the motor moving in the specified steps using the configured RPM.
sObj - the stepper object
None
See also: adafruit.motorshieldv2.
Release this motor
sObj - the stepper object
None
See also: adafruit.motorshieldv2.
DS1307 realtime clock sensor
obj = DS1307(arObj)obj = DS1307(arObj, propertyname, propertyvalue ....)Constructor to create DS1307 sensor
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:
I2C address of the DS1307 (default 0x68)
obj - created DS1307 object
a = arduino()
rtc = arduinosensor.DS1307(a)
date = clock(dsObj)date)Get/set the DS1307 clock
dsObj - the ds1307 object
date - a date vector in same format as datevec and clock
date - a date vector in same format as datevec and clock
a = arduino()
rtc = arduinosensor.DS1307(a)
# get and display rtc time as a date string
datestr(rtc.clock)
See also: datevec.
ctrl = control(dsObj)ctrl)Get/set the DS1307 clock
dsObj - the ds1307 object
ctrl - a structure containing the control bit fields.
ctrl - a structure containing the control bit fields.
Control structure fields are: Current properties are:
Out bit in the control register
Square wave enable bit in control register
The combined RS0, RS1 value
YN = isstarted(dsObj)Get whether the RTC clock is currently counting time
dsObj - the ds1307 object
YN - returns true if the RTC is counting
See also: start, stop.
Start the RTC counting
dsObj - the ds1307 object
None
See also: datevec.
Stop the RTC counting
dsObj - the ds1307 object
None
See also: datevec.
A thin wrapper for the GUVAS12SD analog UV-B sensor
obj = GUVAS12SD(arObj, pin)Constructor to create GUVAS12SD sensor
arObj - the arduino parent object
pin - the analog pin that the sensor is connected to
obj - created GUVAS12SD object
a = arduino()
# create sensor attached to pin a0.
sensor = arduinosensor.GUVAS12SD(a, "a0")
V = read(dsObj)Read the voltage of the sensor
dsObj - the GUVAS12SD object
V - read voltage - effectively equivalent to readAnalogPin(arObj, pin).
a = arduino()
s = arduinosensor.GUVAS12SD(a)
# voltage
volts = s.read
See also: arduinosensor.GUVAS12SD.
Idx = readIndex(dsObj)Read the UV index
dsObj - the GUVAS12SD object
Idx - the sensor reading as a UV index reading
uA = readuA(dsObj)Read the uA of the sensor
dsObj - the GUVAS12SD object
uA - the sensor reading as a uAmp value
MCP3002 ADC sensor
obj = MPC3002(arObj, selectPin)obj = MPC3002(arObj, selectPin, propertyname, propertyvalue ....)Constructor to create MPC3002 sensor
arObj - the arduino parent object
selectPin - the SPI cs select pin
propertyname, propertyvalue - optional property name, value pairs.
Current properties are:
Reference voltage for scaling the ADC inputs (default 5.0)
obj - created MCP3002 object
a = arduino()
sensor = arduinosensor.MPC3002(a, "d10")
voltage = readVoltage(dsObj, chan)Read the voltage from a channel
dsObj - the MPC3002 object
chan - the channel to read (0 or 1)
voltage - read voltage.
a = arduino()
s = arduinosensor.MPC3002(a, "d10")
volts = readVoltage(s, 0)
See also: arduinosensor.MPC3002.
SI7021 temperature and humidity sensor
obj = SI7021(arObj)obj = SI7021(arObj, propertyname, propertyvalue ....)Constructor to create SI7021 sensor
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:
I2C address of the SI7021 (default 0x40)
obj - created SI7020 object
a = arduino()
sensor = arduinosensor.SI7021(a)
C = temperature(dsObj)Read the temperature
dsObj - the si7021 object
C - read temperature in deg C.
a = arduino()
s = arduinosensor.SI7021(a)
# get temp
temp = s.temperature
See also: arduinosensor.SI7021.
relH = humidity(dsObj)Read the relative humidity
dsObj - the si7021 object
relH - relative humidity as a percentage (0 - 100.0)
relH = info(dsObj)Read the sensor info
dsObj - the si7021 object
inf - structure containing the sensor information.
Structure fields are:
Chip firmware version
sensor id1,id2 value
String for detected chip type
Base class used for arduino library sensors
See also: arduinoio.LibraryBase.
Base properties are expected to be inherited and overwritten in inherited classes. and are constant in order to query through the metaobject mechanism.
Parent - parent librarybase object
ab = AddonBase ()Constructor of base class
The return value ab is an object of the arduinio.AddonBase class.
See also: arduino, addon.
()Display the addon in a verbose way.
retval = arduinoio.FilePath (fullpathname)Get the directory component of a pathname.
fullpathname filepath to get directory component of.
retval the directory part of the filename.
filelist = arduinoio.LibFiles ()Get the list of files used for the building arduino library
filelist - string cell array of files for the arduino project
Base class used for arduino library plugins
See also: arduino, listArduinoLibraries, addon.
Base properties are expected to be inherited and overwritten in inherited classes and are constant in order to query through the metaobject mechanism.
LibraryName - name of the addon library
DependentLibraries - array of dependent library names that must be included when installing this plugin.
CppHeaderFile - name (if any) of header file that will be included into the arduino project when adding this library.
CppSourceFile - name (if any) of source file that will be included into the arduino project when adding this library.
CppClassName - name of the cpp class for the addon library. project when adding this library.
Pins - pins allocated to the addon
Parent - parent arduino object.
lb = LibraryBase ()Constructor of base class
The constructor is usually not called but called indirectly from the addon function.
The return value lb is an object of the arduinio.LibraryBase class.
See also: arduino, listArduinoLibraries, addon.
()Display the addon in a verbose way.
retval = arduinoio.getBoardConfig (boardname)Return the configuration for a known arduino board type
Function is used to get the expected pin/board configuration for a named board type which is used to verify and identify the functionality of the board.
boardname - name of board to get configuration of ie: "uno"
retval configuration struct.
BME280 pressure, temperature and humidity sensor
obj = bme280(arObj)obj = bme280(arObj, propertyname, propertyvalue ....)Constructor to create BME280 sensor
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:
I2C address of the sensor (default 0x40)
I2C bus - 0 or 1 (default 0)
obj - created object
a = arduino()
sensor = bme280(a)
[C, timestamp] = readTemperature(obj)Read the temperature
obj - the sensor object
C - read temperature in deg C.
timestamp - timestamp when read
a = arduino()
s = bme280(a)
# get temp
temp = s.readTemperature
See also: bme280.
[relH, timestamp] = readHumidity(obj)Read the relative humidity
obj - the sensor object
relH - relative humidity as a percentage (0 - 100.0)
timestamp - timestamp when read
[P, timestamp] = readPressure(obj)Read the pressure
obj - the sensor object
P - pressure reading from sensor.
timestamp - timestamp when read
[readings, overrun] = read(obj)[P, H, C, timestamp, overrun] = read(obj)Read the sensor data
obj - the sensor object
P - pressure reading from sensor.
H - humidity reading from sensor.
C - temperature reading from sensor.
timestamp - timestamp when read
overrun - overrun flag.
readings - table structure with fields for Timestamp, Pressure, Temperature and Humidity.
inf = info(obj)Read the sensor info
obj - the sensor object
inf - structure containing the sensor information.
Structure fields are:
Chip firmware version
sensor id value
sensor type ’bme280’
Status value read from sensor
Flush sensor data
obj - the sensor object
None
Release the resources of the sensor
obj - the sensor object
None
BNO055 9 axis orientation sensor
obj = bno055(arObj)obj = bno055(arObj, propertyname, propertyvalue ....)Constructor to create BME280 sensor
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:
I2C address of the sensor (default 0x40)
I2C bus - 0 or 1 (default 0)
Operating mode ’ndof’ or ’amg’
obj - created object
a = arduino()
sensor = bno055(a)
[C, timestamp] = readTemperature(obj)Read the temperature
obj - the sensor object
C - read temperature in deg C.
timestamp - timestamp when read
a = arduino()
s = bno055(a)
# get temp
temp = s.readTemperature
See also: bno055.
[readVal, timestamp] = readAcceleration(obj)Read the acceleration rate
obj - the sensor object
readVal - the 3 acceleration values
timestamp - timestamp when read
[readVal, timestamp] = readAngularVelocity(obj)Read the angular velocity
obj - the sensor object
readVal - the 3 angular velocity values
timestamp - timestamp when read
[readVal, timestamp] = readMagneticField(obj)Read the magnetic field components
obj - the sensor object
readVal - the 3 magnetic field values
timestamp - timestamp when read
[readVal, timestamp] = readOrientation(obj)Read the oriientation components
obj - the sensor object
readVal - the 3 orientation values
timestamp - timestamp when read
[readings, overrun] = read(obj)[accel, gyro, mag, timestamp, overrun] = read(obj)[accel, gyro, mag, orientation, timestamp, overrun] = read(obj)Read the sensor data
obj - the sensor object
accel - acceleration reading from sensor.
gyro - angular acceleration reading from sensor.
mag - magnetic field reading from sensor.
orientation - orientation reading from sensor.
timestamp - timestamp when read
overrun - overrun flag.
readings - table structure with fields for Timestamp, Acceleration, AngularVelocity, MagneticField, Orientation.
inf = readCalibrationStatus(obj)Read the sensor calibration status
obj - the sensor object
status - structure containing the calibration information.
Structure fields are:
System calibrarion
Accelerometer calibration status
Gyroscope calibration status
Magnetometer calibration status
Values for each will be either ’uncalibrated’, ’partial’ or ’full’.
inf = info(obj)Read the sensor info
obj - the sensor object
inf - structure containing the sensor information.
Structure fields are:
Software firmware version
sensor id value
sensor type ’bno055’
Flush sensor data
obj - the sensor object
None
Release the resources of the sensor
obj - the sensor object
None
LIS3DH 3 degrees sensor
obj = lis3dh(arObj)obj = lis3dh(arObj, propertyname, propertyvalue ....)Constructor to create LIS3DH sensor
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:
I2C address of the sensor (default 0x40)
I2C bus - 0 or 1 (default 0)
obj - created object
a = arduino()
sensor = lis3dh(a)
[readVal, timestamp] = readAcceleration(obj)Read the acceleration rate
obj - the sensor object
readVal - the 3 acceleration values
timestamp - timestamp when read
[readings, overrun] = read(obj)[accel, timestamp, overrun] = read(obj)Read the sensor data
obj - the sensor object
accel - acceleration reading from sensor.
timestamp - timestamp when read
overrun - overrun flag.
readings - table structure with fields for Timestamp, Acceleration.
inf = info(obj)Read the sensor info
obj - the sensor object
inf - structure containing the sensor information.
Structure fields are:
sensor id value
sensor type ’lis3dh’
sensor status value
Flush sensor data
obj - the sensor object
None
Release the resources of the sensor
obj - the sensor object
None
LPS22HB absolute pressure and temperature sensor
obj = lps22hb(arObj)obj = lps22hb(arObj, propertyname, propertyvalue ....)Constructor to create LPS22HB sensor
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:
I2C address of the sensor (default 0x5C)
I2C bus - 0 or 1 (default 0)
obj - created object
a = arduino()
sensor = lps22hb(a)
[C, timestamp] = readTemperature(obj)Read the temperature
obj - the sensor object
C - read temperature in deg C.
timestamp - timestamp when read
a = arduino()
s = lps22hb(a)
# get temp
temp = s.readTemperature
See also: lps22hb.
[P, timestamp] = readPressure(obj)Read the pressure
obj - the sensor object
P - pressure reading from sensor.
timestamp - timestamp when read
[readings, overrun] = read(obj)[P, C, timestamp, overrun] = read(obj)Read the sensor data
obj - the sensor object
P - pressure reading from sensor.
C - temperature reading from sensor.
timestamp - timestamp when read
overrun - overrun flag.
readings - table structure with fields for Timestamp, Pressure, Temperature and Humidity.
inf = info(obj)Read the sensor info
obj - the sensor object
inf - structure containing the sensor information.
Structure fields are:
Chip firmware version
sensor id value
sensor type ’lps22hb’
Status value read from sensor
Flush sensor data
obj - the sensor object
None
Release the resources of the sensor
obj - the sensor object
None
LSM6DSO 6 degrees sensor
obj = lsm6dso(arObj)obj = lsm6dso(arObj, propertyname, propertyvalue ....)Constructor to create LSM6DSO sensor
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:
I2C address of the sensor (default 0x40)
I2C bus - 0 or 1 (default 0)
obj - created object
a = arduino()
sensor = lsm6dso(a)
[C, timestamp] = readTemperature(obj)Read the temperature
obj - the sensor object
C - read temperature in deg C.
timestamp - timestamp when read
a = arduino()
s = lsm6dso(a)
# get temp
temp = s.readTemperature
See also: lsm6dso.
[readVal, timestamp] = readAcceleration(obj)Read the acceleration rate
obj - the sensor object
readVal - the 3 acceleration values
timestamp - timestamp when read
[readVal, timestamp] = readAngularVelocity(obj)Read the angular velocity
obj - the sensor object
readVal - the 3 angular velocity values
timestamp - timestamp when read
[readings, overrun] = read(obj)[accel, gyro, mag, timestamp, overrun] = read(obj)Read the sensor data
obj - the sensor object
accel - acceleration reading from sensor.
gyro - angular acceleration reading from sensor.
timestamp - timestamp when read
overrun - overrun flag.
readings - table structure with fields for Timestamp, Acceleration, AngularVelocity.
inf = info(obj)Read the sensor info
obj - the sensor object
inf - structure containing the sensor information.
Structure fields are:
sensor id value
sensor type ’lsm6dso’
Flush sensor data
obj - the sensor object
None
Release the resources of the sensor
obj - the sensor object
None
MPU-6050 6 degrees sensor
obj = mpu6050(arObj)obj = mpu6050(arObj, propertyname, propertyvalue ....)Constructor to create MPU-6050 sensor
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:
I2C address of the sensor (default 0x40)
I2C bus - 0 or 1 (default 0)
obj - created object
a = arduino()
sensor = mpu6050(a)
[C, timestamp] = readTemperature(obj)Read the temperature
obj - the sensor object
C - read temperature in deg C.
timestamp - timestamp when read
a = arduino()
s = mpu6050(a)
# get temp
temp = s.readTemperature
See also: mpu6050.
[readVal, timestamp] = readAcceleration(obj)Read the acceleration rate
obj - the sensor object
readVal - the 3 acceleration values
timestamp - timestamp when read
[readVal, timestamp] = readAngularVelocity(obj)Read the angular velocity
obj - the sensor object
readVal - the 3 angular velocity values
timestamp - timestamp when read
[readings, overrun] = read(obj)[accel, gyro, mag, timestamp, overrun] = read(obj)Read the sensor data
obj - the sensor object
accel - acceleration reading from sensor.
gyro - angular acceleration reading from sensor.
timestamp - timestamp when read
overrun - overrun flag.
readings - table structure with fields for Timestamp, Acceleration, AngularVelocity.
inf = info(obj)Read the sensor info
obj - the sensor object
inf - structure containing the sensor information.
Structure fields are:
sensor id value
sensor type ’mpu6050’
Flush sensor data
obj - the sensor object
None
Release the resources of the sensor
obj - the sensor object
None
SI7021 temperature and humidity sensor
obj = si7021(arObj)obj = si7021(arObj, propertyname, propertyvalue ....)Constructor to create si7021 sensor
arObj - the arduino parent object
propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:
I2C address of the si7021 (default 0x40)
I2C bus (default 0)
obj - created SI7020 object
a = arduino()
sensor = si7021(a)
[C, timestamp] = readTemperature(obj)Read the temperature
obj - the si7021 object
C - read temperature in deg C.
timestamp - timestamp when read
a = arduino()
s = si7021(a)
# get temp
temp = s.readTemperature()
See also: si7021.
[relH, timestamp] = readHumidity(obj)Read the relative humidity
obj - the si7021 object
relH - relative humidity as a percentage (0 - 100.0)
timestamp - timestamp when read
[readings, overrun] = read(obj)[H, C, timestamp, overrun] = read(obj)Read the sensor data
obj - the si2071 sensor object
H - humidity reading from sensor.
C - temperature reading from sensor.
timestamp - timestamp when read
overrun - overrun flag.
readings - table structure with fields for Timestamp, Temperature and Humidity.
relH = info(dsObj)Read the sensor info
dsObj - the si7021 object
inf - structure containing the sensor information.
Structure fields are:
Chip firmware version
sensor id value
String for detected chip type
Flush sensor data
obj - the sensor object
None
Release the resources of the sensor
obj - the sensor object
None
retval = arduino_bistsetup ()retval = arduino_bistsetup (propertyname, propertyvalue)Install on an arduino the required core libraries to run the BIST tests
As part of the setup, the arduino IDE will be opened to allow programming the arduino board.
propertyname, propertyvalue - A sequence of property name/value pairs can be given to set defaults while programming.
Currently the following properties can be set:
The value should be the name/path of the arduino IDE binary for programming. If not specified, the function will attempt to find the binary itself.
Set the debug flag when checking the arduino
retval - return 1 if everything installed ok
See also: arduino, arduinosetup.
Copyright © 2007 Free Software Foundation, Inc. http://fsf.org/ Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.
The GNU General Public License is a free, copyleft license for software and other kinds of works.
The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program—to make sure it remains free software for all its users. We, the Free Software Foundation, use the GNU General Public License for most of our software; it applies also to any other work released this way by its authors. You can apply it to your programs, too.
When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for them if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs, and that you know you can do these things.
To protect your rights, we need to prevent others from denying you these rights or asking you to surrender the rights. Therefore, you have certain responsibilities if you distribute copies of the software, or if you modify it: responsibilities to respect the freedom of others.
For example, if you distribute copies of such a program, whether gratis or for a fee, you must pass on to the recipients the same freedoms that you received. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights.
Developers that use the GNU GPL protect your rights with two steps: (1) assert copyright on the software, and (2) offer you this License giving you legal permission to copy, distribute and/or modify it.
For the developers’ and authors’ protection, the GPL clearly explains that there is no warranty for this free software. For both users’ and authors’ sake, the GPL requires that modified versions be marked as changed, so that their problems will not be attributed erroneously to authors of previous versions.
Some devices are designed to deny users access to install or run modified versions of the software inside them, although the manufacturer can do so. This is fundamentally incompatible with the aim of protecting users’ freedom to change the software. The systematic pattern of such abuse occurs in the area of products for individuals to use, which is precisely where it is most unacceptable. Therefore, we have designed this version of the GPL to prohibit the practice for those products. If such problems arise substantially in other domains, we stand ready to extend this provision to those domains in future versions of the GPL, as needed to protect the freedom of users.
Finally, every program is threatened constantly by software patents. States should not allow patents to restrict development and use of software on general-purpose computers, but in those that do, we wish to avoid the special danger that patents applied to a free program could make it effectively proprietary. To prevent this, the GPL assures that patents cannot be used to render the program non-free.
The precise terms and conditions for copying, distribution and modification follow.
“This License” refers to version 3 of the GNU General Public License.
“Copyright” also means copyright-like laws that apply to other kinds of works, such as semiconductor masks.
“The Program” refers to any copyrightable work licensed under this License. Each licensee is addressed as “you”. “Licensees” and “recipients” may be individuals or organizations.
To “modify” a work means to copy from or adapt all or part of the work in a fashion requiring copyright permission, other than the making of an exact copy. The resulting work is called a “modified version” of the earlier work or a work “based on” the earlier work.
A “covered work” means either the unmodified Program or a work based on the Program.
To “propagate” a work means to do anything with it that, without permission, would make you directly or secondarily liable for infringement under applicable copyright law, except executing it on a computer or modifying a private copy. Propagation includes copying, distribution (with or without modification), making available to the public, and in some countries other activities as well.
To “convey” a work means any kind of propagation that enables other parties to make or receive copies. Mere interaction with a user through a computer network, with no transfer of a copy, is not conveying.
An interactive user interface displays “Appropriate Legal Notices” to the extent that it includes a convenient and prominently visible feature that (1) displays an appropriate copyright notice, and (2) tells the user that there is no warranty for the work (except to the extent that warranties are provided), that licensees may convey the work under this License, and how to view a copy of this License. If the interface presents a list of user commands or options, such as a menu, a prominent item in the list meets this criterion.
The “source code” for a work means the preferred form of the work for making modifications to it. “Object code” means any non-source form of a work.
A “Standard Interface” means an interface that either is an official standard defined by a recognized standards body, or, in the case of interfaces specified for a particular programming language, one that is widely used among developers working in that language.
The “System Libraries” of an executable work include anything, other than the work as a whole, that (a) is included in the normal form of packaging a Major Component, but which is not part of that Major Component, and (b) serves only to enable use of the work with that Major Component, or to implement a Standard Interface for which an implementation is available to the public in source code form. A “Major Component”, in this context, means a major essential component (kernel, window system, and so on) of the specific operating system (if any) on which the executable work runs, or a compiler used to produce the work, or an object code interpreter used to run it.
The “Corresponding Source” for a work in object code form means all the source code needed to generate, install, and (for an executable work) run the object code and to modify the work, including scripts to control those activities. However, it does not include the work’s System Libraries, or general-purpose tools or generally available free programs which are used unmodified in performing those activities but which are not part of the work. For example, Corresponding Source includes interface definition files associated with source files for the work, and the source code for shared libraries and dynamically linked subprograms that the work is specifically designed to require, such as by intimate data communication or control flow between those subprograms and other parts of the work.
The Corresponding Source need not include anything that users can regenerate automatically from other parts of the Corresponding Source.
The Corresponding Source for a work in source code form is that same work.
All rights granted under this License are granted for the term of copyright on the Program, and are irrevocable provided the stated conditions are met. This License explicitly affirms your unlimited permission to run the unmodified Program. The output from running a covered work is covered by this License only if the output, given its content, constitutes a covered work. This License acknowledges your rights of fair use or other equivalent, as provided by copyright law.
You may make, run and propagate covered works that you do not convey, without conditions so long as your license otherwise remains in force. You may convey covered works to others for the sole purpose of having them make modifications exclusively for you, or provide you with facilities for running those works, provided that you comply with the terms of this License in conveying all material for which you do not control copyright. Those thus making or running the covered works for you must do so exclusively on your behalf, under your direction and control, on terms that prohibit them from making any copies of your copyrighted material outside their relationship with you.
Conveying under any other circumstances is permitted solely under the conditions stated below. Sublicensing is not allowed; section 10 makes it unnecessary.
No covered work shall be deemed part of an effective technological measure under any applicable law fulfilling obligations under article 11 of the WIPO copyright treaty adopted on 20 December 1996, or similar laws prohibiting or restricting circumvention of such measures.
When you convey a covered work, you waive any legal power to forbid circumvention of technological measures to the extent such circumvention is effected by exercising rights under this License with respect to the covered work, and you disclaim any intention to limit operation or modification of the work as a means of enforcing, against the work’s users, your or third parties’ legal rights to forbid circumvention of technological measures.
You may convey verbatim copies of the Program’s source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice; keep intact all notices stating that this License and any non-permissive terms added in accord with section 7 apply to the code; keep intact all notices of the absence of any warranty; and give all recipients a copy of this License along with the Program.
You may charge any price or no price for each copy that you convey, and you may offer support or warranty protection for a fee.
You may convey a work based on the Program, or the modifications to produce it from the Program, in the form of source code under the terms of section 4, provided that you also meet all of these conditions:
A compilation of a covered work with other separate and independent works, which are not by their nature extensions of the covered work, and which are not combined with it such as to form a larger program, in or on a volume of a storage or distribution medium, is called an “aggregate” if the compilation and its resulting copyright are not used to limit the access or legal rights of the compilation’s users beyond what the individual works permit. Inclusion of a covered work in an aggregate does not cause this License to apply to the other parts of the aggregate.
You may convey a covered work in object code form under the terms of sections 4 and 5, provided that you also convey the machine-readable Corresponding Source under the terms of this License, in one of these ways:
A separable portion of the object code, whose source code is excluded from the Corresponding Source as a System Library, need not be included in conveying the object code work.
A “User Product” is either (1) a “consumer product”, which means any tangible personal property which is normally used for personal, family, or household purposes, or (2) anything designed or sold for incorporation into a dwelling. In determining whether a product is a consumer product, doubtful cases shall be resolved in favor of coverage. For a particular product received by a particular user, “normally used” refers to a typical or common use of that class of product, regardless of the status of the particular user or of the way in which the particular user actually uses, or expects or is expected to use, the product. A product is a consumer product regardless of whether the product has substantial commercial, industrial or non-consumer uses, unless such uses represent the only significant mode of use of the product.
“Installation Information” for a User Product means any methods, procedures, authorization keys, or other information required to install and execute modified versions of a covered work in that User Product from a modified version of its Corresponding Source. The information must suffice to ensure that the continued functioning of the modified object code is in no case prevented or interfered with solely because modification has been made.
If you convey an object code work under this section in, or with, or specifically for use in, a User Product, and the conveying occurs as part of a transaction in which the right of possession and use of the User Product is transferred to the recipient in perpetuity or for a fixed term (regardless of how the transaction is characterized), the Corresponding Source conveyed under this section must be accompanied by the Installation Information. But this requirement does not apply if neither you nor any third party retains the ability to install modified object code on the User Product (for example, the work has been installed in ROM).
The requirement to provide Installation Information does not include a requirement to continue to provide support service, warranty, or updates for a work that has been modified or installed by the recipient, or for the User Product in which it has been modified or installed. Access to a network may be denied when the modification itself materially and adversely affects the operation of the network or violates the rules and protocols for communication across the network.
Corresponding Source conveyed, and Installation Information provided, in accord with this section must be in a format that is publicly documented (and with an implementation available to the public in source code form), and must require no special password or key for unpacking, reading or copying.
“Additional permissions” are terms that supplement the terms of this License by making exceptions from one or more of its conditions. Additional permissions that are applicable to the entire Program shall be treated as though they were included in this License, to the extent that they are valid under applicable law. If additional permissions apply only to part of the Program, that part may be used separately under those permissions, but the entire Program remains governed by this License without regard to the additional permissions.
When you convey a copy of a covered work, you may at your option remove any additional permissions from that copy, or from any part of it. (Additional permissions may be written to require their own removal in certain cases when you modify the work.) You may place additional permissions on material, added by you to a covered work, for which you have or can give appropriate copyright permission.
Notwithstanding any other provision of this License, for material you add to a covered work, you may (if authorized by the copyright holders of that material) supplement the terms of this License with terms:
All other non-permissive additional terms are considered “further restrictions” within the meaning of section 10. If the Program as you received it, or any part of it, contains a notice stating that it is governed by this License along with a term that is a further restriction, you may remove that term. If a license document contains a further restriction but permits relicensing or conveying under this License, you may add to a covered work material governed by the terms of that license document, provided that the further restriction does not survive such relicensing or conveying.
If you add terms to a covered work in accord with this section, you must place, in the relevant source files, a statement of the additional terms that apply to those files, or a notice indicating where to find the applicable terms.
Additional terms, permissive or non-permissive, may be stated in the form of a separately written license, or stated as exceptions; the above requirements apply either way.
You may not propagate or modify a covered work except as expressly provided under this License. Any attempt otherwise to propagate or modify it is void, and will automatically terminate your rights under this License (including any patent licenses granted under the third paragraph of section 11).
However, if you cease all violation of this License, then your license from a particular copyright holder is reinstated (a) provisionally, unless and until the copyright holder explicitly and finally terminates your license, and (b) permanently, if the copyright holder fails to notify you of the violation by some reasonable means prior to 60 days after the cessation.
Moreover, your license from a particular copyright holder is reinstated permanently if the copyright holder notifies you of the violation by some reasonable means, this is the first time you have received notice of violation of this License (for any work) from that copyright holder, and you cure the violation prior to 30 days after your receipt of the notice.
Termination of your rights under this section does not terminate the licenses of parties who have received copies or rights from you under this License. If your rights have been terminated and not permanently reinstated, you do not qualify to receive new licenses for the same material under section 10.
You are not required to accept this License in order to receive or run a copy of the Program. Ancillary propagation of a covered work occurring solely as a consequence of using peer-to-peer transmission to receive a copy likewise does not require acceptance. However, nothing other than this License grants you permission to propagate or modify any covered work. These actions infringe copyright if you do not accept this License. Therefore, by modifying or propagating a covered work, you indicate your acceptance of this License to do so.
Each time you convey a covered work, the recipient automatically receives a license from the original licensors, to run, modify and propagate that work, subject to this License. You are not responsible for enforcing compliance by third parties with this License.
An “entity transaction” is a transaction transferring control of an organization, or substantially all assets of one, or subdividing an organization, or merging organizations. If propagation of a covered work results from an entity transaction, each party to that transaction who receives a copy of the work also receives whatever licenses to the work the party’s predecessor in interest had or could give under the previous paragraph, plus a right to possession of the Corresponding Source of the work from the predecessor in interest, if the predecessor has it or can get it with reasonable efforts.
You may not impose any further restrictions on the exercise of the rights granted or affirmed under this License. For example, you may not impose a license fee, royalty, or other charge for exercise of rights granted under this License, and you may not initiate litigation (including a cross-claim or counterclaim in a lawsuit) alleging that any patent claim is infringed by making, using, selling, offering for sale, or importing the Program or any portion of it.
A “contributor” is a copyright holder who authorizes use under this License of the Program or a work on which the Program is based. The work thus licensed is called the contributor’s “contributor version”.
A contributor’s “essential patent claims” are all patent claims owned or controlled by the contributor, whether already acquired or hereafter acquired, that would be infringed by some manner, permitted by this License, of making, using, or selling its contributor version, but do not include claims that would be infringed only as a consequence of further modification of the contributor version. For purposes of this definition, “control” includes the right to grant patent sublicenses in a manner consistent with the requirements of this License.
Each contributor grants you a non-exclusive, worldwide, royalty-free patent license under the contributor’s essential patent claims, to make, use, sell, offer for sale, import and otherwise run, modify and propagate the contents of its contributor version.
In the following three paragraphs, a “patent license” is any express agreement or commitment, however denominated, not to enforce a patent (such as an express permission to practice a patent or covenant not to sue for patent infringement). To “grant” such a patent license to a party means to make such an agreement or commitment not to enforce a patent against the party.
If you convey a covered work, knowingly relying on a patent license, and the Corresponding Source of the work is not available for anyone to copy, free of charge and under the terms of this License, through a publicly available network server or other readily accessible means, then you must either (1) cause the Corresponding Source to be so available, or (2) arrange to deprive yourself of the benefit of the patent license for this particular work, or (3) arrange, in a manner consistent with the requirements of this License, to extend the patent license to downstream recipients. “Knowingly relying” means you have actual knowledge that, but for the patent license, your conveying the covered work in a country, or your recipient’s use of the covered work in a country, would infringe one or more identifiable patents in that country that you have reason to believe are valid.
If, pursuant to or in connection with a single transaction or arrangement, you convey, or propagate by procuring conveyance of, a covered work, and grant a patent license to some of the parties receiving the covered work authorizing them to use, propagate, modify or convey a specific copy of the covered work, then the patent license you grant is automatically extended to all recipients of the covered work and works based on it.
A patent license is “discriminatory” if it does not include within the scope of its coverage, prohibits the exercise of, or is conditioned on the non-exercise of one or more of the rights that are specifically granted under this License. You may not convey a covered work if you are a party to an arrangement with a third party that is in the business of distributing software, under which you make payment to the third party based on the extent of your activity of conveying the work, and under which the third party grants, to any of the parties who would receive the covered work from you, a discriminatory patent license (a) in connection with copies of the covered work conveyed by you (or copies made from those copies), or (b) primarily for and in connection with specific products or compilations that contain the covered work, unless you entered into that arrangement, or that patent license was granted, prior to 28 March 2007.
Nothing in this License shall be construed as excluding or limiting any implied license or other defenses to infringement that may otherwise be available to you under applicable patent law.
If conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot convey a covered work so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not convey it at all. For example, if you agree to terms that obligate you to collect a royalty for further conveying from those to whom you convey the Program, the only way you could satisfy both those terms and this License would be to refrain entirely from conveying the Program.
Notwithstanding any other provision of this License, you have permission to link or combine any covered work with a work licensed under version 3 of the GNU Affero General Public License into a single combined work, and to convey the resulting work. The terms of this License will continue to apply to the part which is the covered work, but the special requirements of the GNU Affero General Public License, section 13, concerning interaction through a network will apply to the combination as such.
The Free Software Foundation may publish revised and/or new versions of the GNU General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the Program specifies that a certain numbered version of the GNU General Public License “or any later version” applies to it, you have the option of following the terms and conditions either of that numbered version or of any later version published by the Free Software Foundation. If the Program does not specify a version number of the GNU General Public License, you may choose any version ever published by the Free Software Foundation.
If the Program specifies that a proxy can decide which future versions of the GNU General Public License can be used, that proxy’s public statement of acceptance of a version permanently authorizes you to choose that version for the Program.
Later license versions may give you additional or different permissions. However, no additional obligations are imposed on any author or copyright holder as a result of your choosing to follow a later version.
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee.
If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively state the exclusion of warranty; and each file should have at least the “copyright” line and a pointer to where the full notice is found.
one line to give the program's name and a brief idea of what it does. Copyright (C) year name of author This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode:
program Copyright (C) year name of author This program comes with ABSOLUTELY NO WARRANTY; for details type ‘show w’. This is free software, and you are welcome to redistribute it under certain conditions; type ‘show c’ for details.
The hypothetical commands ‘show w’ and ‘show c’ should show the appropriate parts of the General Public License. Of course, your program’s commands might be different; for a GUI interface, you would use an “about box”.
You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see http://www.gnu.org/licenses/.
The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read http://www.gnu.org/philosophy/why-not-lgpl.html.
| Jump to: | A B C D E F G H I K L M O P Q R S T U V W |
|---|
| Jump to: | A B C D E F G H I K L M O P Q R S T U V W |
|---|
1_=0|9U/shev7Y
W֮o/ʂ>]_y u(vk DD .@W4EYZa8 ˦] -{R*P*F8d1o#4a#|c|9B "}j 4%תYP;B'N7w7iVB ٣o@5=(b锌ds Ų̈́#_2?_RX- a"`,g(2ԗ$12ħ,E"N0h' E^i˫3` e~Saʹ>zw
Ƅrh [y:"Bͩԁ*'p3sxA2W\ǹ
30ڷ
N 's XN/dB 3 ]. 0ND}Q{DɥPzd8L;YAa4{a擌pKзv5T=c`'R8RD>yр=1I
6-I@<"4w\/{:=9;J0F"-%2 ]Df)rwC8PW8ޮpOb_(38sT Txpj$@vEkuuk.o <#r:\]̹hhDFadF .V/,1D0'V.9~R z}@u+ջVt; (i mRz я^<=O!,0U?B#i{D :ٮ TLB2{gAbp_|2̊ 5%;NEk#$ Q~${8|݃ƝPov:5l }P4Mo*2n![FulNmzU!
:W[ Vԛ}!%B^=Ƕ6jeݔY
endstream
endobj
1308 0 obj
<<
/Length 1402
/Filter /FlateDecode
>>
stream
xYKoFWf
@nRnMkP@R ; ť)
AZ
gvfvM< Q/Y䥻Wg<z00KÞ7EɅ5Bai"i{>E:X =I<
zoT6pqb5+Y6uӧ5@P, '60`>iDب1lje :5ddHF 38 }zdEȣ膶faCLmZʤ (ox Ey3y ܊,jBx$fa(DNu>}(8^MV ?ý3d~ūV[8Fs:VtN#^:\4@w sAd{Q ,Sf8 2wSO w[£z0O(0p
/a@7-泈)Yޠ0+9#1a)_.`%LB+r/tX`,}k:C''{ ,b ^EN^K?e,3YyO n K@C$#ojd,fqCsawx4:+ Mi62iS\gFWч2έ ^>Ds'-^';BE>?*#3F C#Y Z e6jK.#߁(@Fkn5DUDڐ9} "Qw>8)تKC k-68 ( CToDe= YWg)ѳ2@o5
h9&zݥqogcey DD*xfg]Q +!0v!8ɦxF+ƪihW'TX>[¥'. 2DkK.a"H˽?. @tr]0ƴxِx
oR?Ln"/'bKԙ;]p]
8A ]-POrDpÊ:CGǑ 4()u
~9&bg/ǡv d(2}25XDEV6r`GNW6$rrc
U4B1Cf~I{r.q 8?@:XXUtϓ45M7O)0"N*q پ*B8Ɖ Ǜ=
.ڦW߁Q^ xojՐG}K>GX
[} EII
+ mpTK:'EJ Y0W+xv s}pdxӚ/O͗Nl)9
{WˡS̙l]SE) XΠrf[ﷷ|Of&zq{ikY۷>Zu2|F
"{-B"6g ]|8H|
@T~CZa_Xy'lV!&m7W^Nu&<{K ƝIvzN2% JE:ejW\l9N뻒ȇ'e^,zl|YS5GGSaap HkSnsC'5p
endstream
endobj
1516 0 obj
<<
/Length 1323
/Filter /FlateDecode
>>
stream
xڕVmo8 _K v,[~bb-z)-CVߏy9b")>_&!$&Y yM*\99 j%I&, M˱E5ۻ h+sq~\p^B5q6,i K 0 ??>/ %Q$dw^ S+)WF&N{}2[
?`VbB+u (*C|:э4#Ri7I4O"V?І5j-$y8Ep~;uv#OyАd+hbŎqTVr/
q\A\njڵpЗQ.E- d~2h`w pнp%%paN"+%gXVOZFԹ )XS) L ;h\ zR,el H@
ftԒD $
靝.uo0