MATLAB/Octave - Tilt Bricklet – Tinkerforge

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# MATLAB/Octave - Tilt Bricklet

This is the description of the MATLAB/Octave API bindings for the Tilt Bricklet. General information and technical specifications for the Tilt Bricklet are summarized in its hardware description.

An installation guide for the MATLAB/Octave API bindings is part of their general description.

## Examples

The example code below is Public Domain (CC0 1.0).

### Simple (MATLAB)

Download (matlab_example_simple.m)

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    function matlab_example_callback()
        import com.tinkerforge.IPConnection;
        import com.tinkerforge.BrickletTilt;

        HOST = 'localhost';
        PORT = 4223;
        UID = 'fgfds'; % Change to your UID

        ipcon = IPConnection(); % Create IP connection
        tilt = BrickletTilt(UID, ipcon); % Create device object

        ipcon.connect(HOST, PORT); % Connect to brickd
        % Don't use device before ipcon is connected

        % Get current tilt state
        state = tilt.getTiltState();

        if state == tilt.TILT_STATE_CLOSED
            fprintf('closed');
        elseif state == tilt.TILT_STATE_OPEN
            fprintf('open');
        elseif state == tilt.TILT_STATE_CLOSED_VIBRATING
            fprintf('closed vibrating');
        end

        input('Press any key to exit...\n', 's');
        ipcon.disconnect();
    end

### Callback (MATLAB)

Download (matlab_example_callback.m)

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    function matlab_example_callback()
        import com.tinkerforge.IPConnection;
        import com.tinkerforge.BrickletTilt;

        HOST = 'localhost';
        PORT = 4223;
        UID = 'fgfds'; % Change to your UID

        ipcon = IPConnection(); % Create IP connection
        tilt = BrickletTilt(UID, ipcon); % Create device object

        ipcon.connect(HOST, PORT); % Connect to brickd
        % Don't use device before ipcon is connected

        % Enable tilt state callback
        tilt.enableTiltStateCallback();

        % Register tilt state callback to function cb_tilt_state
        set(tilt, 'TiltStateCallback', @(h, e) cb_tilt_state(e));

        input('Press any key to exit...\n', 's');
        ipcon.disconnect();
    end

    % Callback function for tilt state callback
    function cb_tilt_state(e)
        if e.state == com.tinkerforge.BrickletTilt.TILT_STATE_CLOSED
            fprintf('Closed\n');
        elseif e.state == com.tinkerforge.BrickletTilt.TILT_STATE_OPEN
            fprintf('Open\n');
        elseif e.state == com.tinkerforge.BrickletTilt.TILT_STATE_CLOSED_VIBRATING
            fprintf('Closed Vibrating\n');
        end
    end

### Simple (Octave)

Download (octave_example_simple.m)

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    function octave_example_simple()
        more off;

        HOST = "localhost";
        PORT = 4223;
        UID = "fgfds"; % Change to your UID

        ipcon = java_new("com.tinkerforge.IPConnection"); % Create IP connection
        tilt = java_new("com.tinkerforge.BrickletTilt", UID, ipcon); % Create device object

        ipcon.connect(HOST, PORT); % Connect to brickd
        % Don't use device before ipcon is connected

        state = tilt.getTiltState();

        if str2double(state.toString()) == 0
            fprintf("Closed\n");
        elseif str2double(state.toString()) == 1
            fprintf("Open\n");
        elseif str2double(state.toString()) == 2
            fprintf("Closed Vibrating\n");
        end

        input("Press any key to exit...\n", "s");
        ipcon.disconnect();
    end

### Callback (Octave)

Download (octave_example_callback.m)

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    function octave_example_callback()
        more off;

        HOST = "localhost";
        PORT = 4223;
        UID = "fgfds"; % Change to your UID

        ipcon = java_new("com.tinkerforge.IPConnection"); % Create IP connection
        tilt = java_new("com.tinkerforge.BrickletTilt", UID, ipcon); % Create device object

        ipcon.connect(HOST, PORT); % Connect to brickd
        % Don't use device before ipcon is connected

        % Enable tilt state callback
        tilt.enableTiltStateCallback();

        % Register tilt state callback to function cb_tilt_state
        tilt.addTiltStateCallback(@cb_tilt_state);

        input("Press any key to exit...\n", "s");
        ipcon.disconnect();
    end

    % Callback function for tilt state callback
    function cb_tilt_state(e)
        if str2double(e.state.toString()) == 0
            fprintf("Closed\n");
        elseif str2double(e.state.toString()) == 1
            fprintf("Open\n");
        elseif str2double(e.state.toString()) == 2
            fprintf("Closed Vibrating\n");
        end
    end

## API

Generally, every method of the MATLAB bindings that returns a value can throw a `TimeoutException`. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody unplugs the device). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Beside the `TimeoutException` there is also a `NotConnectedException` that is thrown if a method needs to communicate with the device while the IP Connection is not connected.

Since the MATLAB bindings are based on Java and Java does not support multiple return values and return by reference is not possible for primitive types, we use small classes that only consist of member variables. The member variables of the returned objects are described in the corresponding method descriptions.

The package for all Brick/Bricklet bindings and the IP Connection is `com.tinkerforge.*`

All methods listed below are thread-safe.

### Basic Functions

public class `BrickletTilt`(String uid, IPConnection ipcon)

  Creates an object with the unique device ID `uid`.

  In MATLAB:

      import com.tinkerforge.BrickletTilt;

      tilt = BrickletTilt('YOUR_DEVICE_UID', ipcon);

  In Octave:

      tilt = java_new("com.tinkerforge.BrickletTilt", "YOUR_DEVICE_UID", ipcon);

  This object can then be used after the IP Connection is connected (see examples above).

public short `getTiltState`()

  Returns the current tilt state. The state can either be

  - 0 = Closed: The ball in the tilt switch closes the circuit.
  - 1 = Open: The ball in the tilt switch does not close the circuit.
  - 2 = Closed Vibrating: The tilt switch is in motion (rapid change between open and close).

  The following constants are available for this function:

  - BrickletTilt.TILT_STATE_CLOSED = 0
  - BrickletTilt.TILT_STATE_OPEN = 1
  - BrickletTilt.TILT_STATE_CLOSED_VIBRATING = 2

### Advanced Functions

public short[] `getAPIVersion`()

  Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

public boolean `getResponseExpected`(short functionId)

  Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

  For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by `setResponseExpected()`. For setter functions it is disabled by default and can be enabled.

  Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

  See `setResponseExpected()` for the list of function ID constants available for this function.

public void `setResponseExpected`(short functionId, boolean responseExpected)

  Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled and callbacks it is always disabled.

  Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

  The following function ID constants are available for this function:

  - BrickletTilt.FUNCTION_ENABLE_TILT_STATE_CALLBACK = 2
  - BrickletTilt.FUNCTION_DISABLE_TILT_STATE_CALLBACK = 3

public void `setResponseExpectedAll`(boolean responseExpected)

  Changes the response expected flag for all setter and callback configuration functions of this device at once.

public BrickletTilt.Identity `getIdentity`()

  Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

  The position can be 'a', 'b', 'c' or 'd'.

  The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

  The returned object has the public member variables `String uid`, `String connectedUid`, `char position`, `short[] hardwareVersion`, `short[] firmwareVersion` and `int deviceIdentifier`.

### Callback Configuration Functions

public void `enableTiltStateCallback`()

  Enables the `TiltStateCallback` callback.

public void `disableTiltStateCallback`()

  Disables the `TiltStateCallback` callback.

public boolean `isTiltStateCallbackEnabled`()

  Returns true if the `TiltStateCallback` callback is enabled.

### Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with "set" function of MATLAB. The parameters consist of the IP Connection object, the callback name and the callback function. For example, it looks like this in MATLAB:

    function cb_example(e)
        fprintf('Parameter: %s\n', e.param);
    end

    set(device, 'ExampleCallback', @(h, e) cb_example(e));

Due to a difference in the Octave Java support the "set" function cannot be used in Octave. The registration is done with "add*Callback" functions of the device object. It looks like this in Octave:

    function cb_example(e)
        fprintf("Parameter: %s\n", e.param);
    end

    device.addExampleCallback(@cb_example);

It is possible to add several callbacks and to remove them with the corresponding "remove*Callback" function.

The parameters of the callback are passed to the callback function as fields of the structure `e`, which is derived from the `java.util.EventObject` class. The available callback names with corresponding structure fields are described below.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

public callback `BrickletTilt.TiltStateCallback`

  Parameters: | state -- short

  This callback provides the current tilt state. It is called every time the state changes.

  See `getTiltState()` for a description of the states.

  The following constants are available for this function:

  - BrickletTilt.TILT_STATE_CLOSED = 0
  - BrickletTilt.TILT_STATE_OPEN = 1
  - BrickletTilt.TILT_STATE_CLOSED_VIBRATING = 2

  In MATLAB the `set()` function can be used to register a callback function to this callback.

  In Octave a callback function can be added to this callback using the `addTiltStateCallback()` function. An added callback function can be removed with the `removeTiltStateCallback()` function.

### Constants

public static final int `BrickletTilt.DEVICE_IDENTIFIER`

  This constant is used to identify a Tilt Bricklet.

  The `getIdentity()` function and the `EnumerateCallback` callback of the IP Connection have a `deviceIdentifier` parameter to specify the Brick's or Bricklet's type.

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