# Introduction

The Arduino toolkit is a somewhat Matlab compatible arduino toolkit for GNU octave.

## Table of Contents

## 1 Installing and loading

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.

### 1.1 Online Direct install

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.

### 1.2 Off-line install

With the arduino toolkit package already downloaded, and in the current directory when running GNU Octave, the package can be installed using the following command within GNU Octave:

    pkg install arduino-0.12.3.tar.gz

### 1.3 Loading

Regardless of the method of installing the Arduino toolkit, in order to use its functions, the toolkit must be loaded using the pkg load command:

    pkg load arduino

The toolkit must be loaded on each GNU Octave session.

## 2 Hardware setup

In order to use the arduino hardware with the toolkit, it must be programmed with special firmware.

### 2.1 Programming the Arduino

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.

### 2.2 Known Arduino Board Types

The board type must be known in order to successfully detect and connect to the Arduino board after programming.

Currently, known boards are:

- Arduino Due
- Arduino UNO
- Arduino Mega 2560
- Arduino Nano
- Arduino Nano Every
- Arduino Nano 33 BLE
- Arduino Nano RP2040 Connect
- Arduino Nano R4
- Arduino Pro/Pro Mini
- Arduino Pro Micro
- Arduino Leonardo
- Arduino Micro
- Arduino MKR1000
- Arduino MKRZero
- Sparkfun SAMD21
- Arduino Lilypad
- Arduino UNO WiFi rev2

  NOTE The Arduino servo library code may require modifications to eliminate conflicts between servos and the tone library

- Arduino UNO WiFi r4
- Arduino UNO Minima r4
- Raspberry Pi Pico
- EPS32 Dev

Additional boards can be added easily, however require minor code changes.

## 3 Connecting to an arduino

To control an arduino device, a connection must be made to it by creating an arduino object.

### 3.1 Connecting to a single arduino

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()

### 3.2 Connecting to a specific 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.

### 3.3 Querying available arduinos

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

## 4 Basic Input and Output Overview

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.

### 4.1 Performing Digital I/O

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");

### 4.2 Performing Analog Input

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");

## 5 Protocol based I/O Overview

The arduino toolkit supports more complex I/O for SPI, I2C, Servo control and more.

### 5.1 SPI communication

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);

### 5.2 I2C communication

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.

### 5.3 Servo communication

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);

### 5.4 Shift Registers

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.

### 5.5 Rotary Encoders

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.

### 5.6 Ultrasonic Sensors

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.

### 5.7 Serial communication

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);

## 6 Addons Overview

This chapter provides an overview of the arduino package addon functionality for adding additional addons to arduino.

### 6.1 Addon Introduction

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.

1. code running on the arduino that implements the required functionality
2. a octave wrapper class that provides the Matlab interface and communication to the code.

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.

### 6.2 Creating an addon

An addon requires at minimum 3 things:

1. A addon package directory that will contain the addon files
2. A Matlab file within that directory that is a subclass of arduinoio.LibraryBase
3. A arduino source/header file that contains the arduino code to load, sub-classed for LibraryBase

So the addon directory structure at a minimum will be:

      +arduinoioaddons  (dir) [somewhere in the octave load path]
        +MyAddons (dir)
          MyAddon1.m
          MyAddon1.h

#### 6.2.1 Addon package directory

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.

#### 6.2.2 Addon package .m file

The Matlab interface file within the addon directory provides the Matlab interface for the arduino code as well as provides information about the addon.

#### Class inheritance and required properties

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:

LibraryName

  (Required) The name of the addon. My convention this is usually the directoryname / theclassname

CppHeaderFile

  (Required) The header file for the arduino code

CppSourceFile

  (Optional) The source file (if any) for the arduino code

CppClassName

  (Required) The classname used within the cppheaderfile for the arduino library

DependantLibraries

  (Optional) Any additional addons or cores that are needed for this library to be used

ArduinoLibraryHeaderFiles

  (Optional) Any additional header files that need to be included

#### Class constructor

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:

1. Parent should be set to the first input argument (the arduino class)
2. Pins should be set to a list of pins that are used for the plugin

    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

#### Class functions

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.

#### 6.2.3 Addon package header file

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:

1. The class name within the file must be the same as the one set in the .m file CppClassName property.
2. The libName variable must be the same as the LibraryName property.
3. The constructor should call registerLibrary
4. the commandHandler function to act on cmdID values that match the commands that will be sent from .m file and send data back using sendResponseMsg
5. on receiving unknown cmdID values, the commandHandler should use sendUnknownCmdIDMsg

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.

#### 6.2.4 Verify octave can see the addon

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.

### 6.3 Using addons

#### 6.3.1 Programming the arduino with the addon

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.

#### 6.3.2 Creating a addon object

An object of the addon type can be created using the addon command.

      ar = arduino([],[], 'libraries', 'MyAddons/MyAddon1', 'forcebuild', true)
      obj = addon(ar, "MyAddons/MyAddon1");

## 7 Sensors Overview

There are two types of sensors available:

1. Matlab compatible(ish) sensors for environment and IMU.
2. Additional lightweight wrappers for some chips in a arduinosensor namespace.

### 7.1 Matlab Compatible Sensors

#### 7.1.1 Overview

Matlab compatible functions are provided for a number of sensors, using a similar function naming as provided by the Matlab arduino package.

#### 7.1.2 Available Sensors

The functions for each sensor is listed in the function reference, Sensors and provides for:

bme280

  BME280 temperature, pressure and humidity sensor

bno005

  BNO055 acceleration, angular velocity, orientation and magnetic field sensor

lis3dh

  LIS3DH acceleration sensor

lps22hb

  LPS22HB temperature and pressure sensor

lsm6dso

  LSM6DSO acceleration, angular velocity sensor

mpu6050

  MPU-6050 acceleration, angular velocity sensor

SI7021

  SI7021 temperature and humidity sensor

### 7.2 Lightweight Arduino Sensors

#### 7.2.1 Overview

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.

#### 7.2.2 Available Sensors

The functions for each sensor is listed in the function reference, Arduino Sensors and provides for:

DS1307

  DS1307 RTC clock using i2c.

MPC3002

  MPC3002 ADC using SPI

SI7021

  SI7021 temperature and humidity sensor

GUVAS12SD

  GUVAS12SD analog UV-B sensor

## 8 Examples

### 8.1 Blinking an LED

This example shows blinking the inbuilt LED on the Arduino board. Code is available by running:

    edit examples/example_blink

### Hardware setup

This example uses in the builtin LED, so requires only a connection of the Arduino board to computer for communication.

### Create an Arduino object

    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.

### Query Device for pins connected to builtin LED

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});

### Turn the LED off

Write a 0 value to the pin to turn it off.

    writeDigitalPin (ar, led_pin, 0);

### Turn the LED on

Write a 1 value to the pin to turn it on

    writeDigitalPin (ar, led_pin, 1);

### Making the LED blink

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

### 8.2 Using I2C to communicate with an EEPROM

This example shows using I2C to communicate with a EEPROM chip. Code is available by running:

    edit examples/example_i2c_eeprom

### Hardware setup

Using an Arduino UNO, the board should be configured with the following connections between the board and a 24XX256 EEPROM chip:

A4

  Connected to pin 5 of EEPROM

A5

  Connected to pin 6 of EEPROM

5V

  Connected to pin 8 of EEPROM

GND

  Connected to pin 1,2,3,4 of EEPROM

### Create an Arduino object

    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.

### Query I2C pins

Display the I2C terminals of the board:

    getI2CTerminals(ar)

### Scan the arduino for the connected device

    scanI2Cbus(ar)

The devices listed should contain 0x50, the address of the EEPROM chip.

### Create an I2C object to communicate to the EEPROM

    eeprom = device (ar, "i2caddress", 0x50)

### Write data to the EEPROM

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

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)

### 8.3 Using SPI to communicate with a mcp3002 10 bit ADC

This example shows using SPI to communicate with an mcp3002 10 bit ADC. Code is available by running:

    edit examples/example_spi_mcp3002

### Hardware setup

Using an Arduino UNO, the board should be configured with the following connections between the board and a mcp3002 chip:

D10

  Connected to pin 1 (CS) of MCP3002

D11

  Connected to pin 5 (DI) of MCP3002

D12

  Connected to pin 6 (DO) of MCP3002

D13

  Connected to pin 7 (CLK) MCP3002

VCC

  Connected to pin 8 (VDD) MCP3002

GND

  Connected to pin 4 (VSS) MCP3002

Analog input

  Connected from pin 2 of the MCP3002 to a LOW (< 5V) voltage to measure

### Create an Arduino object

    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.

### Create an SPI object to communicate to the MCP3002

    adc = device(ar, "spichipselectpin", "d10")

The d10 is the chip select pin connected from the Arduino to the MCP3002.

### Read the ADC

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;

## 9 Function Reference

The functions currently available in the Arduino toolkit are described below;

### 9.1 General Functions

#### 9.1.1 arduinosetup

: `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.

  #### Inputs

  propertyname, propertyvalue - A sequence of property name/value pairs can be given to set defaults while programming.

  Currently the following properties can be set:

  libraries

    The value should be the name of a library, or string array of libraries to program on the arduino board.

  arduinobinary

    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.

  #### Outputs

  retval - return 1 if arduino IDE returned without an error

  See also: arduino, __arduino_binary__.

#### 9.1.2 isarduino

: `retval =` isarduino `(obj)`

  Check if input value is an arduino object

  Function is essentially just a call of `retval = isa(obj, "arduino");`

  #### Inputs

  obj - The object to check

  #### Outputs

  retval is true, if obj is an arduino object, false otherwise.

  See also: arduino.

#### 9.1.3 listArduinoLibraries

: `retval =` listArduinoLibraries `()`
: `retval =` listArduinoLibraries `(libtypes)`

  Retrieve list of all known arduino library modules that are available.

  #### Inputs

  libtypes - optional specifier for type of libraries to list.

  Options are:

  all

    List core and addons

  core

    List core only libraries

  addons

    List addons only

  When no libtypes is specified, all libraries are shown.

  #### Outputs

  retval is an cell array of string library names that are available for programming to the arduino.

  See also: arduino, arduinosetup.

#### 9.1.4 scanForArduinos

: `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.

  #### Inputs

  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.

  ’BaudRate’

    Numeric BaudRate to use when trying to scan for arduinos.

  ’MaxCount’

    Max number of arduinos to scan for.

  ’BoardType’

    Boardtype to match.

  ’Debug’

    Logical flag for debug mode.

  #### Outputs

  retval structure cell array of matching detected arduino boards.

  Each cell value of the cell array will contain a structure with values of:

  port

    the serial port the arduino is connected to

  board

    the board type of the arduino

  See also: arduino.

### 9.2 Arduino Functions

#### 9.2.1 Read and Write Data

#### 9.2.1.1 @arduino/configurePin

: `currmode =` configurePin `(ar, pin)`
: configurePin `(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.

  #### Inputs

  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.

  #### Outputs

  mode - string current mode of the pin.

  Valid modes can be:

  - AnalogInput - Acquire analog signals from pin
  - DigitalInput - Acquire digital signals from pin
  - DigitalOutput - Generate digital signals from pin
  - I2C - Specify a pin to use with I2C protocol
  - Pullup - Specify pin to use a pullup switch
  - PWM - Specify pin to use a pulse width modulator
  - Servo - Specify pin to use a servo
  - SPI - Specify a pin to use with SPI protocol
  - Interrupt - Specify a pin to use for with interrupts
  - Reserved - Specify a pin to be reserved
  - Unset - Clears pin designation. The pin is no longer reserved and can be automatically set at the next operation.

  See also: arduino.

#### 9.2.1.2 @arduino/playTone

: playTone `(ar, pin, freq, duration)`

  Play a tone of a given frequency on a specified pin.

  #### Inputs

  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.

#### 9.2.1.3 @arduino/readAnalogPin

: `value =` readAnalogPin `(ar, pin)`

  Read analog voltage of pin.

  #### Inputs

  ar - connected arduino object.

  pin - string name of the pin to read.

  #### Outputs

  value - analog value of the pin

  #### Example

       ar = arduino ();
       readAnalogPin(ar, "A4");
       ans =
           87

  See also: arduino, readVoltage.

#### 9.2.1.4 @arduino/readDigitalPin

: `value =` readDigitalPin `(obj, pin)`

  Read digital value from a digital I/O pin.

  #### Inputs

  ar - connected arduino object.

  pin - string name of the pin to read.

  #### Outputs

  value - the logical value (0, 1, true false) of the current pin state.

  #### Example

       a = arduino ();
       pinvalue = readDigitalPin (a, 'D5');

  See also: arduino, writeDigitalPin.

#### 9.2.1.5 @arduino/readVoltage

: `voltage =` readVoltage `(ar, pin)`

  Read analog voltage of a pin.

  #### Inputs

  ar - connected arduino.

  pin - pin name or number to query for voltage

  #### Outputs

  voltage - scaled pin value as a voltage

  #### Example

       ar = arduino ();
       readVoltage(ar, "A4");
       ans =
           1.401

  See also: arduino, readAnalogPin.

#### 9.2.1.6 @arduino/validatePin

: validatePin `(ar, pin, type)`

  Validate that the mode is allowed for specified pin

  If the mode is not valid, and error will be thrown.

  #### Inputs

  ar - connected arduino object

  pin - name of pin to query mode validity of

  mode - mode to query

  Known modes are:

  - ’I2C’
  - ’SPI’
  - ’PWM’
  - ’Servo’
  - ’analog’
  - ’digital’

  See also: arduino, configurePin.

#### 9.2.1.7 @arduino/writeDigitalPin

: writeDigitalPin `(ar, pin, value)`

  Write digital value to a digital I/O pin.

  #### Inputs

  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.

  #### Example

       a = arduino();
       writeDigitalPin(a,'D5',1);

  See also: arduino, readDigitalPin.

#### 9.2.1.8 @arduino/writePWMDutyCycle

: writePWMDutyCyle `(ar, pin, value)`

  Set pin to output a square wave with a specified duty cycle.

  #### Inputs

  ar - connected arduino object

  pin - pin to write to.

  value - duty cycle value where 0 = off, 0.5 = 50% on, 1 = always on.

  #### Example

       a = arduino();
       writePWMDutyCycle(a,'D5',0.5);

  See also: arduino, writePWMVoltage.

#### 9.2.1.9 @arduino/writePWMVoltage

: writePWMVoltage `(ar, pin, voltage)`

  Emulate an approximate voltage out of a pin using PWM.

  #### Inputs

  ar - connected arduino object

  pin - pin to write to.

  voltage - voltage to emulate with PWM, between 0 - 5.0

  #### Example

       a = arduino();
       writePWMVoltage(a,'D5',1.0);

  See also: arduino, writePWMDutyCycle.

#### 9.2.2 Terminal Functions

#### 9.2.2.1 @arduino/getI2CTerminals

: `pinlist =` getI2CTerminals `(ar)`
: `pinlist =` getI2CTerminals `(ar, bus)`

  Get a cell list of pin Ids available are used for I2C mode.

  #### Inputs

  ar - the arduino object.

  bus - optional bus number 0 or 1 for boards that support more than 1 bus.

  #### Outputs

  pinlist - cell list of pin numbers available for I2C use.

  See also: arduino.

#### 9.2.2.2 @arduino/getInterruptTerminals

: `pinlist =` getInterruptTerminals `(ar)`

  Get a cell list of pin Ids available have interrupt functionality

  #### Inputs

  ar - the arduino object.

  #### Outputs

  pinlist - cell list of pin numbers available for interrupt use.

  See also: arduino.

#### 9.2.2.3 @arduino/getLEDTerminals

: `pinlist =` getLEDTerminals `(ar)`

  Get a cell list of pin Ids available are connected natively to LEDs.

  #### Inputs

  ar - the arduino object.

  #### Outputs

  pinlist - cell list of pin numbers available for LED use.

  See also: arduino.

#### 9.2.2.4 @arduino/getPWMTerminals

: `pinlist =` getPWMTerminals `(ar)`

  Get a cell list of pin Ids available for PWM use.

  #### Inputs

  ar - the arduino object.

  #### Outputs

  pinlist - cell list of pin numbers available for PWM use.

  See also: arduino.

#### 9.2.2.5 @arduino/getPinInfo

: `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

  #### Inputs

  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

    Terminal number of the pin

  name

    String name of the pin

  owner

    Current item owner of the pin

  mode

    Current configured mode for the pin

  #### Outputs

  pininfo - struct on pin information.

  pininfolist - cell array of pin info

  See also: arduino, configurePinResource, getResourceOwner.

#### 9.2.2.6 @arduino/getPinsFromTerminals

: `pinnames =` getPinsFromTerminals `(ar, terminals)`

  Get the pin names from the input terminal values.

  #### Inputs

  ar - the connected arduino object.

  terminals - the numeric pin number, or array of pin numbers to get pin names.

  #### Outputs

  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.

#### 9.2.2.7 @arduino/getSPITerminals

: `pinlist =` getSPITerminals `(ar)`

  Get a cell list of pin Ids available for SPI mode.

  #### Inputs

  ar - the arduino object.

  #### Outputs

  pinlist - cell list of pin numbers available for SPI use.

  See also: arduino.

#### 9.2.2.8 @arduino/getServoTerminals

: `pinlist =` getServoTerminals `(ar)`

  Get a cell list of pin Ids available for servo use.

  #### Inputs

  ar - the arduino object.

  #### Outputs

  pinlist - cell list of pin numbers available for servo use.

  See also: arduino, getPWMTerminals.

#### 9.2.2.9 @arduino/getTerminalMode

: `mode =` getTerminalMode `(ar, terminal)`

  Get the mode of a pin allocated previously by configurePinResource.

  #### Inputs

  ar - connected arduino object

  terminal - terminal number to get owner of.

  #### Outputs

  mode - mode of the terminal pin, or "not_set" if not owned.

  See also: configurePinResource, getResourceOwner.

#### 9.2.2.10 @arduino/getTerminalsFromPins

: `pinnums =` getTerminalsFromPins `(ar, pins)`

  Get the terminal number for each pin.

  #### Inputs

  ar - connected arduino object

  pins - single pin name or cell or vector array of pin names.

  #### Outputs

  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.

#### 9.2.2.11 @arduino/isTerminalAnalog

: `ret =` isTerminalAnalog `(obj, terminal)`

  Return true if pin is capable of analog input

  #### Inputs

  ar - the connected arduino object

  terminal is a terminal number to check

  #### Outputs

  ret return 1 if terminal is a analog pin, 0 otherwise

#### 9.2.2.12 @arduino/isTerminalDigital

: `ret =` isTerminalDigital(obj, `terminal)`

  Return true if pin is capable of digital functions

  #### Inputs

  ar - the connected arduino object

  terminal is a terminal number to check

  #### Outputs

  ret return 1 if terminal is a digital pin, 0 otherwise

#### 9.2.3 General Functions

#### 9.2.3.1 @arduino/checkI2CAddress

: `retval =` checkI2CAddress `(ar, address)`
: `retval =` checkI2CAddress `(ar, address, bus)`

  Check that an address of given address responds on the I2C bus

  #### Inputs

  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.

  #### Outputs

  retval - boolean value of true if address responds on the I2C bus

  #### Example

       # 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.

#### 9.2.3.2 @arduino/getEndian

: `mcu =` getEndian `(ar)`

  Get the endian used by the connected arduino.

  #### Inputs

  ar - arduino object connected to a arduino board.

  #### Outputs

  endian - string representing the endian used by the arduino board.

  ’L’ means little endian, ’B’ means big endian

  See also: arduino, getMCU.

#### 9.2.3.3 @arduino/getMCU

: `mcu =` getMCU `(ar)`

  Get the MCU used by the connected arduino.

  #### Inputs

  ar - arduino object connected to a arduino board.

  #### Outputs

  mcu - string representing the mcu used by the arduino board.

  See also: arduino.

#### 9.2.3.4 @arduino/getPinAlias

: `ouy =` getPinAlias `(ar, pin)`

  Get the pin actual pin name from a pin alias.

  For example, the arduino Leonardo, pin "D4" is also "A6".

  #### Inputs

  ar - the connected arduino object.

  pin - a pin name.

  #### Outputs

  out - alias pin name, or same as pin if the pin doesnt have any alias names.

  See also: arduino, configurePinResource, getResourceOwner.

#### 9.2.3.5 @arduino/reset

: reset `(ar)`

  Send reset command to arduino hardware to force a hardware reset.

  #### Inputs

  ar - connected arduino object.

  See also: arduino.

#### 9.2.3.6 @arduino/sendCommand

: `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.

  #### Inputs

  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

  #### Outputs

  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.

#### 9.2.3.7 @arduino/uptime

: `sec =` uptime `(ar)`

  Get the number of seconds the arduino board has been running concurrently.

  #### Inputs

  ar - the arduino object of the connection to an arduino board.

  #### Outputs

  sec - the number seconds the board has been running. Note that the count will wrap around after approximately 50 days.

  See also: arduino.

#### 9.2.3.8 @arduino/version

: `ver =` version `(ar)`

  Get version of library code installed on arduino board

  #### Inputs

  ar - the arduino object of the connection to an arduino board.

  #### Outputs

  ver - version string in format of X.Y.Z.

  See also: arduino.

#### 9.2.4 Resource Functions

#### 9.2.4.1 @arduino/configurePinResource

: `currmode =` configurePinResource `(ar, pin)`
: configurePinResource `(ar, pin, owner, mode)`
: configurePinResource `(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.

  #### Inputs

  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.

  #### Outputs

  currmode - current string mode of the pin.

  Valid modes can be:

  - AnalogInput - Acquire analog signals from pin
  - DigitalInput - Acquire digital signals from pin
  - DigitalOutput - Generate digital signals from pin
  - I2C - Specify a pin to use with I2C protocol
  - Pullup - Specify pin to use a pullup switch
  - PWM - Specify pin to use a pulse width modulator
  - Servo - Specify pin to use a servo
  - SPI - Specify a pin to use with SPI protocol
  - Interrupt - Specify a pin to use with interrupts
  - Reserved - Pin marked reserved, but not for of any particular mode
  - Unset - Clears pin designation. The pin is no longer reserved and can be automatically set at the next operation.

  See also: arduino, configurePin.

#### 9.2.4.2 @arduino/decrementResourceCount

: `count =` decrementResourceCount `(ar, resource)`

  Decrement the count of a named resource by 1 and return the new count.

  #### Inputs

  ar - connected arduino object

  resource - name of resource to decrement count.

  #### Outputs

  count = count of uses registered to resource.

  See also: getResourceCount. incrementResourceCount.

#### 9.2.4.3 @arduino/getResourceCount

: `count =` getResourceCount `(ar, resource)`

  Get the count of uses of a given resource.

  #### Inputs

  ar - connected arduino object

  resource - name of resource to get count for.

  #### Outputs

  count = count of uses registered to resource.

  See also: incrementResourceCount. decrementResourceCount.

#### 9.2.4.4 @arduino/getResourceOwner

: `owner =` getResourceOwner `(ar, terminal)`

  Get the owner of pin allocated previously by configurePinResource.

  #### Inputs

  ar - connected arduino object

  terminal - terminal number to get owner of.

  #### Outputs

  owner = owner of the terminal pin, or "" if not owned.

  See also: configurePinResource.

#### 9.2.4.5 @arduino/getSharedResourceProperty

: `count =` getSharedResourceProperty `(ar, resource, property)`

  Get the value of a property from a given resource.

  #### Inputs

  ar - connected arduino object

  resource - name of resource to get property for.

  property - name of property from the resource.

  #### Outputs

  propvalue - value of the property

  See also: getResourceCount, setSharedResourceProperty.

#### 9.2.4.6 @arduino/incrementResourceCount

: `count =` incrementResourceCount `(ar, resource)`

  Increment the count value of a named resource by 1 and return the new count

  #### Inputs

  ar - connected arduino object

  resource - name of resource to increment count.

  #### Outputs

  count = count of uses registered to resource.

  See also: getResourceCount. decrementResourceCount.

#### 9.2.4.7 @arduino/setSharedResourceProperty

: setSharedResourceProperty `(ar, resource, propname, propvalue)`
: setSharedResourceProperty `(ar, resource, propname, propvalue, ___)`

  Set property values for a given resource.

  #### Inputs

  ar - connected arduino object

  resource - name of resource to get property for.

  propname - name of property from the resource.

  propvalue - value of property from the resource.

  Multiple propname, propvalue pairs can be given.

  #### Outputs

  None

  #### Example

       ar = arduino();
       setSharedResourceProperty(ar, "myresource", "myproperty", [1 2 3])

  See also: getSharedResourceProperty.

#### 9.2.5 Arduino creation

#### 9.2.5.1 @arduino/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.

  #### Inputs

  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:

  debug

    true / false flag for whether setting debug (default false)

  forcebuildon

    true / false flag for whether to force show of the arduino IDE to rebuild the installed code on the arduino (default false)

  baudrate (read only)

    the communications baudrate to the board. (default 9600)

  libraries

    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.

  #### Outputs

  retval - a successfully connected arduino object.

  #### Properties

  The arduino object has the following public properties:

  name

    name assigned to the arduino object

  debug

    true / false flag for whether debug is turned on

  forcebuildon

    true / false flag for whether to force show of the arduino IDE to reprogram the arduino

  port (read only)

    the communications port the board is connected to.

  baudrate (read only)

    the communications baudrate to the board.

  board (read only)

    The name of the board type that the arduino connected to

  libraries (read only)

    The libraries currently programmed onto the board

  availablepins

    The pins available for use on the board

  analogreference

    The analog voltage reference

  See also: scanForArduinos, arduinosetup.

#### 9.2.5.2 @arduino/delete

: delete `(dev)`

  Free resources of an arduino object.

  #### Inputs

  dev - object to free

  See also: arduino.

#### 9.2.5.3 @arduino/disp

: disp `(ar)`

  Display the arduino object in a verbose way, showing the board and available pins.

  #### Inputs

  ar - the arduino object.

  If the arduino object has debug mode set, additional information will be displayed.

  See also: arduino.

### 9.3 Arduino I2C Functions

#### 9.3.1 @device/delete

: delete `(dev)`

  Free resources of a device object.

  #### Inputs

  dev - object to free

  See also: device.

#### 9.3.2 @device/disp

: disp `(dev)`

  Display device object.

  #### Inputs

  dev - device object to display

  See also: device.

#### 9.3.3 @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.

  #### Inputs

  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

  #### Outputs

  data - data read from the device

  See also: arduino, device.

#### 9.3.4 @device/readRegister

: `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.

  #### Inputs

  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

  #### Output

  data - data read from device.

  See also: arduino, device.

#### 9.3.5 @device/subsref

: `val =` subsref `(dev, sub)`

  subref for device

  See also: device.

#### 9.3.6 @device/write

: write `(dev, datain)`
: write `(dev, datain, precision)`

  Write data to a I2C or serial device object using optional precision for the data byte used for the data.

  #### Inputs

  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.

#### 9.3.7 @device/writeRegister

: writeRegister `(dev, reg, datain)`
: writeRegister `(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.

  #### Inputs

  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.

#### 9.3.8 @i2cdev/delete

: delete `(dev)`

  Free resources of a i2cdev object.

  #### Inputs

  dev - object to free

  See also: i2cdev.

#### 9.3.9 @i2cdev/disp

: disp `(dev)`

  Display i2cdev object.

  #### Inputs

  dev - i2cdev object

  See also: i2cdev.

#### 9.3.10 @i2cdev/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.

  #### Inputs

  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

    bus number (when arduino board supports multiple I2C buses) with value of 0 or 1.

  #### Outputs

  dev - new created i2cdev object.

  #### Properties

  The i2cdev object has the following public properties:

  parent

    The parent (arduino) for this device

  pins

    pins used by this object

  bus

    bus used for created object

  address

    I2C address set for object

  See also: arduino.

#### 9.3.11 @i2cdev/read

: `data =` read `(dev, numbytes)`
: `data =` read `(dev, numbytes, precision)`

  Read a specified number of bytes from a i2cdev object using optional precision for bytesize.

  #### Inputs

  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

  #### Outputs

  data - data read from i2cdevice

  See also: arduino, i2cdev.

#### 9.3.12 @i2cdev/readRegister

: `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.

  #### Inputs

  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

  #### Output

  data - data read from device.

  See also: arduino, i2cdev.

#### 9.3.13 @i2cdev/subsref

: `val =` subsref `(dev, sub)`

  subref for i2cdev

  See also: i2cdev.

#### 9.3.14 @i2cdev/write

: write `(dev, datain)`
: write `(dev, datain, precision)`

  Write data to a i2cdev object using optional precision for the data byte used for the data.

  #### Inputs

  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.

#### 9.3.15 @i2cdev/writeRegister

: writeRegister `(dev, reg, datain)`
: writeRegister `(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.

  #### Inputs

  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.

#### 9.3.16 scanI2Cbus

: `retval =` scanI2Cbus `(ar)`
: `retval =` scanI2Cbus `(ar, bus)`

  Scan arduino for devices on the I2C bus.

  #### Inputs

  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.

  #### Outputs

  retval - cell array of addresses as strings in format of "0xXX".

  #### Example

       # 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.

### 9.4 Arduino Rotary Encoder Functions

#### 9.4.1 @rotaryEncoder/delete

: delete `(dev)`

  Free resources of a encoder object.

  #### Inputs

  dev - object to free

  See also: rotartEncoder.

#### 9.4.2 @rotaryEncoder/disp

: `retval =` disp `(obj)`

  Display the rotary encoder object in a verbose way,

  #### Inputs

  obj - the arduino rotary encoder object created with rotaryEncoder

  See also: rotaryEncoder.

#### 9.4.3 @rotaryEncoder/readCount

: `[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

    Reset the count after reading (if true)

  #### Outputs

  count - returned count read from the encoder.

  time - seconds since arduino started

  See also: rotaryEncoder, resetCount.

#### 9.4.4 @rotaryEncoder/readSpeed

: `speed =` readSpeed `(obj)`

  read rotational speed from the rotary encoder.

  #### Inputs

  obj - rotary encoder object created with rotaryEncoder call.

  #### Outputs

  speed - returned speed in revolutions per minute read from the encoder.

  See also: rotaryEncoder, resetCount.

#### 9.4.5 @rotaryEncoder/resetCount

: `reset` (obj)
: `reset` (obj, `cnt)`

  reset the rotary encoder count values

  #### Inputs

  obj - the rotaryEncoder object

  cnt - optional count value to reset to

  See also: rotaryEncoder, readCount.

#### 9.4.6 @rotaryEncoder/rotaryEncoder

: `obj =` rotaryEncoder `(ar, chanApin, chanBpin)`
: `obj =` rotaryEncoder `(ar, chanApin, chanBpin, ppr)`

  Create a rotaryEncoder object controlled by the input pins.

  #### Inputs

  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.

  #### Outputs

  obj - created rotary encoder object

  #### Example

       a = arduino ();
       enc = rotaryEncoder(a, "d2", "d3", 180);

  #### Properties

  The rotaryEncoder object has the following public properties:

  parent

    The parent (arduino) for this device

  pins

    pins used by this object

  ppr

    Number of pulses used per rotation

  See also: arduino.

#### 9.4.7 @rotaryEncoder/subsref

: `val =` subsref `(dev, sub)`

  subref for rotaryEncoder

  See also: rotaryEncoder.

### 9.5 Arduino Servo Functions

#### 9.5.1 @servo/delete

: delete `(dev)`

  Free resources of a servo object.

  #### Inputs

  dev - object to free

  See also: servo.

#### 9.5.2 @servo/disp

: disp `(dev)`

  Display servo object.

  #### Inputs

  dev - servo device to display

  See also: servo.

#### 9.5.3 @servo/readPosition

: `position =` readPosition `(servo)`

  Read the position of a servo

  #### Inputs

  servo - servo object created from arduino.servo.

  #### Outputs

  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.

#### 9.5.4 @servo/servo

: `obj =` servo `(arduinoobj, pin)`
: `obj =` servo `(arduinoobj, pin, propertyname, propertyvalue)`

  Create a servo object using a specified pin on a arduino board.

  #### Inputs

  obj - servo object

  arduinoobj - connected arduino object

  propertyname, propertyvalue - name value pairs for properties to pass to the created servo object.

  Current properties are:

  minpulseduration

    min PWM pulse value in seconds.

  maxpulseduration

    max PWM pulse value in seconds.

  #### Outputs

  obj - created servo object.

  #### Example

       # 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);

  #### Properties

  The servo object has the following public properties:

  parent

    The parent (arduino) for this device

  pins

    pins used by this object

  minpulseduration

    minpulseduration set for object

  maxpulseduration

    maxpulseduration set for object

  See also: arduino, readPosition, writePosition.

#### 9.5.5 @servo/subsref

: `val =` subsref `(dev, sub)`

  subref for servo

  See also: servo.

#### 9.5.6 @servo/writePosition

: writePosition `(servo, position)`

  Write the position to a servo.

  #### Inputs

  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.

### 9.6 Arduino Shiftregister Functions

#### 9.6.1 @shiftRegister/delete

: delete `(dev)`

  Free resources of a shiftRegister object.

  #### Inputs

  dev - object to free

  See also: shiftRegister.

#### 9.6.2 @shiftRegister/disp

: disp `(register)`

  Display the register object in a verbose way,

  #### Inputs

  register - the arduino register object created with shiftRegister.

  See also: shiftRegister.

#### 9.6.3 @shiftRegister/read

: `retval =` read `(register)`
: `retval =` read `(register, precision)`

  read a value from the shift register.

  #### Inputs

  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.

  #### Outputs

  retval - returned data read from the register.

  See also: shiftRegister, write.

#### 9.6.4 @shiftRegister/reset

: `reset` (register)

  clear the shift register value.

  #### Inputs

  register - shift register created from shiftRegister call.

  See also: shiftRegister, read, write.

#### 9.6.5 @shiftRegister/shiftRegister

: `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.

  #### Inputs

  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:

  ’74hc164’

    Additional inputs:

    resetPin - optional pin for resetting the shift register.

  ’74hc165’

    Additional inputs:

    loadPin - load pin to the shift register. clockEnablePin - clock enable pin.

  ’74hc595’

    Additional inputs:

    latchPin - latching data to the shift register. resetPin - optional pin for resetting the shift register.

  #### Outputs

  register - register object

  #### Properties

  The shiftRegister object has the following public properties:

  parent

    The parent (arduino) for this device

  pins

    pins used by this object

  model

    model set for object

  See also: arduino.

#### 9.6.6 @shiftRegister/subsref

: `val =` subsref `(dev, sub)`

  subref for shiftRegister

  See also: shiftRegister.

#### 9.6.7 @shiftRegister/write

: `write` (register, `dataIn)`
: `write` (register, `dataIn, precision)`

  Write a value to the shift register.

  #### Inputs

  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.

### 9.7 Arduino SPI Functions

#### 9.7.1 @device/delete

: delete `(dev)`

  Free resources of a device object.

  #### Inputs

  dev - object to free

  See also: device.

#### 9.7.2 @device/disp

: disp `(dev)`

  Display device object.

  #### Inputs

  dev - device object to display

  See also: device.

#### 9.7.3 @device/subsref

: `val =` subsref `(dev, sub)`

  subref for device

  See also: device.

#### 9.7.4 @device/writeRead

: `dataOut =` readWrite `(spi, dataIn)`

  Write uint8 data to spi device and return back clocked out response data of same size.

  #### Inputs

  spi - connected spi device on arduino

  dataIn - uint8 sized data to send to spi device framed between SS frame.

  #### Outputs

  dataOut - uint8 data clocked out during send to dataIn.

  See also: arduino, device.

#### 9.7.5 @spidev/delete

: delete `(dev)`

  Free resources of a spidev object.

  #### Inputs

  dev - spidev object to free

  See also: spidev.

#### 9.7.6 @spidev/disp

: disp `(dev)`

  Display spidev object.

  #### Inputs

  dev - spidev object to display

  See also: spidev.

#### 9.7.7 @spidev/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.

  #### Inputs

  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:

  bitrate

    bit rate speed in Mbs

  bitorder

    ’msbfirst’ or ’lsbfirst’

  mode

    SPI mode 0 - 3.

  #### Outputs

  dev - created spidev object

  #### Properties

  The spidev object has the following public properties:

  parent

    The parent (arduino) for this device

  pins

    pins used by this object

  mode

    mode used for created object

  bitrate

    Bitrate set for object

  bitorder

    Bitorder set for object

  chipselectpin

    Pin used for chipselect

  See also: arduino, readWrite.

#### 9.7.8 @spidev/subsref

: `val =` subsref `(dev, sub)`

  subref for spidev

  See also: spidev.

#### 9.7.9 @spidev/writeRead

: `dataOut =` readWrite `(spi, dataIn)`

  Write uint8 data to spi device and return back clocked out response data of same size.

  #### Inputs

  spi - connected spi device on arduino

  dataIn - uint8 sized data to send to spi device framed between SS frame.

  #### Outputs

  dataOut - uint8 data clocked out during send to dataIn.

  See also: arduino, spidev.

### 9.8 Arduino Serial Functions

#### 9.8.1 @device/delete

: delete `(dev)`

  Free resources of a device object.

  #### Inputs

  dev - object to free

  See also: device.

#### 9.8.2 @device/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.

  #### Inputs

  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

    bus number (when arduino board supports multiple I2C buses) with value of 0 or 1.

  noprobe

    Do not probe the existence of device on creation if set to 1 (default 0)

  bitrate

    bit rate speed in Mbs - default 100000

  Currently known input SPI properties values:

  bitrate

    bit rate speed in Mbs

  bitorder

    ’msbfirst’ or ’lsbfirst’

  spimode

    SPI mode 0 - 3.

  Currently known input Serial properties values:

  baudrate

    baudrate value (default 9600)

  databits

    number of databits (5,6,7,8) (default 8)

  stopbits

    number of stopbits (1,2) (default 1)

  parity

    parity of device (’odd’,’even’,’none’) (default ’none’)

  #### Outputs

  dev - new created device object.

  #### Properties

  The object has the following public properties:

  parent

    The parent (arduino) for this device

  interface

    The interface type for this device ("SPI" or "I2C" or "Serial")

  In addition, depending on type, the object will have these properties:

  #### I2C Properties

  The object has the following public properties:

  bus

    bus used for created object

  i2caddress

    I2C address set for object

  sclpin

    the SCL pin of the device

  sdapin

    the SDA pin of the device

  bitrate

    bit rate for the i2c clock

  #### SPI Properties

  The object has the following public properties:

  spimode

    mode used for created object

  bitrate

    Bitrate set for object

  bitorder

    Bitorder set for object

  spichipselectpin

    Pin used for chipselect

  mosipin

    Pin used for mosi

  misopin

    Pin used for miso

  sckpin

    Pin used for sckpin

  #### Serial Properties

  The object has the following public properties:

  id

    serial port id

  baudrate

    baudrate

  databits

    number of databits (5,6,7,8)

  stopbits

    number of stopbits (1,2)

  parity

    parity of device (’odd’,’even’,’none’)

  See also: arduino, i2cdev, spidev.

#### 9.8.3 @device/disp

: disp `(dev)`

  Display device object.

  #### Inputs

  dev - device object to display

  See also: device.

#### 9.8.4 @device/flush

: `data =` flush `(dev)`
: `data =` flush `(dev, "input")`
: `data =` flush `(dev, "output")`

  Flush the serial port buffers

  #### Inputs

  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

  #### Outputs

  None

  See also: arduino, device, read.

#### 9.8.5 @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.

  #### Inputs

  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

  #### Outputs

  data - data read from the device

  See also: arduino, device.

#### 9.8.6 @device/subsref

: `val =` subsref `(dev, sub)`

  subref for device

  See also: device.

#### 9.8.7 @device/write

: write `(dev, datain)`
: write `(dev, datain, precision)`

  Write data to a I2C or serial device object using optional precision for the data byte used for the data.

  #### Inputs

  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.

### 9.9 Arduino Device Functions

#### 9.9.1 @device/delete

: delete `(dev)`

  Free resources of a device object.

  #### Inputs

  dev - object to free

  See also: device.

#### 9.9.2 @device/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.

  #### Inputs

  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

    bus number (when arduino board supports multiple I2C buses) with value of 0 or 1.

  noprobe

    Do not probe the existence of device on creation if set to 1 (default 0)

  bitrate

    bit rate speed in Mbs - default 100000

  Currently known input SPI properties values:

  bitrate

    bit rate speed in Mbs

  bitorder

    ’msbfirst’ or ’lsbfirst’

  spimode

    SPI mode 0 - 3.

  Currently known input Serial properties values:

  baudrate

    baudrate value (default 9600)

  databits

    number of databits (5,6,7,8) (default 8)

  stopbits

    number of stopbits (1,2) (default 1)

  parity

    parity of device (’odd’,’even’,’none’) (default ’none’)

  #### Outputs

  dev - new created device object.

  #### Properties

  The object has the following public properties:

  parent

    The parent (arduino) for this device

  interface

    The interface type for this device ("SPI" or "I2C" or "Serial")

  In addition, depending on type, the object will have these properties:

  #### I2C Properties

  The object has the following public properties:

  bus

    bus used for created object

  i2caddress

    I2C address set for object

  sclpin

    the SCL pin of the device

  sdapin

    the SDA pin of the device

  bitrate

    bit rate for the i2c clock

  #### SPI Properties

  The object has the following public properties:

  spimode

    mode used for created object

  bitrate

    Bitrate set for object

  bitorder

    Bitorder set for object

  spichipselectpin

    Pin used for chipselect

  mosipin

    Pin used for mosi

  misopin

    Pin used for miso

  sckpin

    Pin used for sckpin

  #### Serial Properties

  The object has the following public properties:

  id

    serial port id

  baudrate

    baudrate

  databits

    number of databits (5,6,7,8)

  stopbits

    number of stopbits (1,2)

  parity

    parity of device (’odd’,’even’,’none’)

  See also: arduino, i2cdev, spidev.

#### 9.9.3 @device/disp

: disp `(dev)`

  Display device object.

  #### Inputs

  dev - device object to display

  See also: device.

#### 9.9.4 @device/flush

: `data =` flush `(dev)`
: `data =` flush `(dev, "input")`
: `data =` flush `(dev, "output")`

  Flush the serial port buffers

  #### Inputs

  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

  #### Outputs

  None

  See also: arduino, device, read.

#### 9.9.5 @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.

  #### Inputs

  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

  #### Outputs

  data - data read from the device

  See also: arduino, device.

#### 9.9.6 @device/readRegister

: `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.

  #### Inputs

  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

  #### Output

  data - data read from device.

  See also: arduino, device.

#### 9.9.7 @device/subsref

: `val =` subsref `(dev, sub)`

  subref for device

  See also: device.

#### 9.9.8 @device/write

: write `(dev, datain)`
: write `(dev, datain, precision)`

  Write data to a I2C or serial device object using optional precision for the data byte used for the data.

  #### Inputs

  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.

#### 9.9.9 @device/writeRead

: `dataOut =` readWrite `(spi, dataIn)`

  Write uint8 data to spi device and return back clocked out response data of same size.

  #### Inputs

  spi - connected spi device on arduino

  dataIn - uint8 sized data to send to spi device framed between SS frame.

  #### Outputs

  dataOut - uint8 data clocked out during send to dataIn.

  See also: arduino, device.

#### 9.9.10 @device/writeRegister

: writeRegister `(dev, reg, datain)`
: writeRegister `(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.

  #### Inputs

  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.

### 9.10 Arduino Ultrasonic Functions

#### 9.10.1 @ultrasonic/delete

: delete `(dev)`

  Free resources of a ultrasonic object.

  #### Inputs

  dev - ultrasonic object to free

  See also: ultrasonic.

#### 9.10.2 @ultrasonic/disp

: disp `(dev)`

  Display ultrasonic object.

  #### Inputs

  dev - ultrasonic object to display

  See also: ultrasonic.

#### 9.10.3 @ultrasonic/readDistance

: `distance =` readDistance `(dev)`

  Read the distance from a ultrasonic device

  #### Inputs

  dev - connected ultrasonic device opened using ultrasonic

  #### Outputs

  distance - distance value in meters from the ultrasonic device, or Inf if out of sensor range

  See also: arduino, ultrasonic.

#### 9.10.4 @ultrasonic/readEchoTime

: `time =` readEchoTime `(dev)`

  Measure the time for waves to reflect back to the ultrasonic device

  #### Inputs

  dev - connected ultrasonic device opened using ultrasonic()

  #### Outputs

  time - time in seconds, or Inf if out of sensor range

  See also: arduino, ultrasonic.

#### 9.10.5 @ultrasonic/subsref

: `val =` subsref `(dev, sub)`

  subref for ultrasonic

  See also: ultrasonic.

#### 9.10.6 @ultrasonic/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

  #### Inputs

  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:

  outputformat

    string designating number format for output (’double’)

  #### Outputs

  dev - created ultrasonic object

  #### Properties

  The ultrasonic object has the following public properties:

  parent

    The parent (arduino) for this device

  pins

    pins used by this object

  triggerpin

    trigger used for created object

  echopin

    Echo pin set for object

  outputformat

    Output format for the created object

  See also: arduino, readDistance, readEchoTime.

### 9.11 Arduino Addons

#### 9.11.1 addon

: `retval =` addon `(ar, addonname)`
: `retval =` addon `(ar, addonname, varargs)`

  Create an addon object using the addon named class.

  #### Inputs

  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.

  #### Outputs

  retval - cell array of string library names.

  See also: arduino, arduinosetup, listArduinoLibraries.

#### 9.11.2 arduinoioaddons.EEPRomAddon.EEPRom

: arduinoioaddons.EEPRomAddon.EEPRom

  EEPROM addon for arduino

  Allows read and write of uint8 data to the onboard arduino EEPROM.

  #### Example

  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.

#### Properties

length - Size of the EEPROM.

#### Methods

: `eeprom =` EEPRom `()`

  Constructor to create EEPROM device.

  #### Outputs

  eeprom - created EEPROM device.

: erase `()`

  Erase all values in EEPROM (Effectively setting the 0xFF)

: write `(address, uintdata)`

  Write data to EEPROM at the provided address.

  #### Inputs

  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.

  #### Inputs

  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)

  #### Outputs

  data a value or array of uint8 data read from the EEPROM.

#### 9.11.3 arduinoioaddons.ExampleAddon.Echo

: arduinoioaddons.ExampleAddon.Echo

  Basic Example matlab/octave code to illustrate creating a user addon.

  See also: addon.

#### Properties

Parent - the parent arduino object.

Pins - the pins allocated the addon.

#### Methods

: `obj =` Echo(arObj)

  Constructor to create Echo addon

  #### Inputs

  arObj - the arduino parent object

  #### Outputs

  obj - created Echo object

: `response =` shout(text)

  Send text to arduino and receive back the echoed reply

  #### Inputs

  text - text to send to arduino

  #### Outputs

  response - response from the arduino, which should be the same as the input text.

#### 9.11.4 arduinoioaddons.ExampleLCD.LCD

: arduinoioaddons.LCDAddon.LCD

  Basic Example octave addon for LCD

  Allows basic manipulation of an LCD as a illustration of using the addon functionality.

  #### Example

  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.

#### Properties

Pins - the pins allocated the LCD display.

#### Methods

: `lcd =` LCD(arObj, `rs, enable, d0, d1, d2, d3)`

  Constructor to create LCD device

  #### Inputs

  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.

  #### Outputs

  lcd - created LCD object

: freeLCD()

  Free the LCD

  Should be called before discarding the LCD

  #### Inputs

  None.

  #### Outputs

  None.

: clearLCD()

  Clear the LCD display and set the cursor position to the home position.

  #### Inputs

  None.

  #### Outputs

  None.

: printLCD(text)

  Display text on LCD starting at the current cursor position.

  #### Inputs

  text - text to display on LCD

  #### Outputs

  None.

: gotoLCD(col, `row)`

  Set the cursor position to row, col

  #### Inputs

  col - 0 indexed LCD column to position to.

  row - 0 indexed LCD row to position to.

  #### Outputs

  None.

#### 9.11.5 arduinoioaddons.RTCAddon.DS1307

: arduinoioaddons.RTCAddon.DS1307

  DS1307 addon

  See also: addon.

#### Properties

Parent - the parent arduino object.

Pins - the pins allocated the addon.

#### Methods

: `obj =` DS1307(arObj)
: `obj =` DS1307(arObj, `propertyname, propertyvalue ....)`

  Constructor to create DS1307 addon

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are:

  address

    I2C address of the DS1307 (default 0x68)

  #### Outputs

  obj - created DS1307 object

  #### Example

       a = arduino()
       rtc = addon(a, "rtcaddon/ds1307")

: `date =` clock(dsObj)
: clock(dsObj, `date)`

  Get/set the DS1307 clock

  #### Inputs

  dsObj - the ds1307 object

  date - a date vector in same format as datevec and clock

  #### Outputs

  date - a date vector in same format as datevec and clock

  #### Example

       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)
: control(dsObj, `ctrl)`

  Get/set the DS1307 clock

  #### Inputs

  dsObj - the ds1307 object

  ctrl - a structure containing the control bit fields.

  #### Outputs

  ctrl - a structure containing the control bit fields.

  Control structure fields are: Current properties are:

  out

    Out bit in the control register

  sqwe

    Square wave enable bit in control register

  rs

    The combined RS0, RS1 value

: `YN =` isstarted(dsObj)

  Get whether the RTC clock is currently counting time

  #### Inputs

  dsObj - the ds1307 object

  #### Outputs

  YN - returns true if the RTC is counting

  See also: start, stop.

: start(dsObj)

  Start the RTC counting

  #### Inputs

  dsObj - the ds1307 object

  #### Outputs

  None

  See also: datevec.

: stop(dsObj)

  Stop the RTC counting

  #### Inputs

  dsObj - the ds1307 object

  #### Outputs

  None

  See also: datevec.

#### 9.11.6 arduinoioaddons.SimpleStepper.SimpleStepper

: arduinoioaddons.SimpleStepper

  Stepper class for stepper control using ULN2003 and compatible drivers

#### Properties

Id

  Id of the stepper (Read only)

Speed

  Number of steps to do per second.

Status

  Status of stepper (Read only). 0 = not moving, 1 = moving, 2 = rotating

Parent

  the Arduino parent (read only)

Pins

  the pins used for the stepper (read only)

#### Methods

: `obj =` SimpleStepper(aObj, `pin1, pin2, pin3, pin4)`
: `obj =` SimpleStepper(aObj, `pin1, pin2, pin3, pin4, pin5)`

  Constructor to create a stepper object

  #### Inputs

  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

  #### Outputs

  s - a simplestepper object

  #### Example

       a = arduino()
       # create stepper object
       s = addon(a, "simplestepper/simplestepper", "d2", "d3", "d4", "d5")
       # start rotating left
       s.rotate(-1);

  See also: addon.

: move(sObj, `steps)`

  Move the motor the specified number of steps using the configured Speed.

  #### Inputs

  sObj - the stepper object

  steps - the number of steps to move. steps less than 0 will be moving left.

  #### Outputs

  None

  See also: rotate.

: rotate(sObj, `dir)`

  Start steppermotor moving in the specified direction using the configured Speed.

  #### Inputs

  sObj - the stepper object

  dir - Direction to move. -1 = left, 0 = stop, 1 = right.

  #### Outputs

  None

  See also: move.

: release(sObj)

  Release this stepper motor

  #### Inputs

  sObj - the stepper object

  #### Outputs

  None

#### 9.11.7 arduinoioaddons.adafruit.dcmotorv2

: arduinoioaddons.adafruit.dcmotorv2

  DC Motor class for dc motor control on the adafruit motor shield

  See also: arduinoioaddons.adafruit.motorshieldv2.

#### Properties

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)

#### Methods

: `obj =` dcmotorv2(mObj, `mnum)`
: `obj =` dcmotorv2(mObj, `mnum, propertyname, propertyvalue ....)`

  Constructor to create dcmotor object

  #### Inputs

  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:

  Speed

    Initial speed (default 0). Should be a value between -1 and 1.

  #### Outputs

  s - a dcmotorv2 object

  #### Example

       a = arduino()
       ms = addon(a, "adafruit/motorshieldv2")
       mtr = dcmotor(ms, 1)

: start(dcObj)

  Start the motor moving in previously set speed/direction

  #### Inputs

  dcObj - the dcmotor object

  #### Outputs

  None

  See also: adafruit.motorshieldv2.

: stop(dcObj)

  Stop the motor moving

  #### Inputs

  dcObj - the dcmotor object

  #### Outputs

  None

  See also: adafruit.motorshieldv2.

#### 9.11.8 arduinoioaddons.adafruit.motorshieldv2

: arduinoioaddons.adafruit.motorshieldv2

  Adafruit motor shield addon

  See also: addon.

#### Properties

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.

#### Methods

: `obj =` motorshieldv2(arObj)
: `obj =` motorshieldv2(arObj, `propertyname, propertyvalue ....)`

  Constructor to create motorshieldv2 addon object

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are:

  address

    I2C address of the motor shield (default 0x60)

  pwmfrequency

    PWM Frequency to set on shield (default 1600)

  #### Outputs

  obj - created motorshieldv2 object

  #### Example

       a = arduino()
       mtr = addon(a, "adafruit/motorshieldv2")

: `s =` servo(mObj, `mtrnum)`
: `s =` servo(mObj, `mtrnum, propertyname, propertyvalue ...)`

  Create a servo object

  #### Inputs

  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.

  #### Outputs

  s - a servo object

  #### Example

       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

  #### Inputs

  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.

  #### Outputs

  s - a stepper object

: `s =` dcmotor(mObj, `mtrnum)`
: `s =` dcmotor(mObj, `mtrnum, propertyname, propertyvalue ...)`

  Create a dcmotor motor object

  #### Inputs

  mObj - the motor shield object

  mtrnum - The motor number (1 - 4)

  propertyname, propertyvalue - Optional property name/value pairs to pass to motor object.

  #### Outputs

  s - a dcmotorv2 object

#### 9.11.9 arduinoioaddons.adafruit.stepper

: arduinoioaddons.adafruit.stepper

  Stepper class for stepper control on the adafruit motor shield

  See also: arduinoioaddons.adafruit.motorshieldv2.

#### Properties

RPM

  The rpm value set for the stepper motor

StepType

  the StepType for the stepper (string) which can be "single", "double", "interleave" or "microstep"

StepsPerRevolution

  the StepsPerRevoluion for the stepper (read only)

MotorNumber

  the motor number for the stepper (read only) value will be 1 or 2.

Parent

  the parent shield of this stepper (read only)

#### Methods

: `obj =` stepper(mObj, `mnum, stepsperrev)`
: `obj =` stepper(mObj, `mnum, stepsperrev, propertyname, propertyvalue ....)`

  Constructor to create dcmotor object

  #### Inputs

  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:

  RPM

    the RPM for the stepper (revolutions per minute)

  StepType

    the StepType for the stepper (string) which can be "single", "double", "interleave" or "microstep"

  #### Outputs

  s - a stepper object

  #### Example

       a = arduino()
       ms = addon(a, "adafruit/motorshieldv2")
       mtr = stepper(ms, 1, 200)

: move(sObj, `steps)`

  Move the motor moving in the specified steps using the configured RPM.

  #### Inputs

  sObj - the stepper object

  #### Outputs

  None

  See also: adafruit.motorshieldv2.

: release(sObj)

  Release this motor

  #### Inputs

  sObj - the stepper object

  #### Outputs

  None

  See also: adafruit.motorshieldv2.

### 9.12 Arduino Sensors

#### 9.12.1 arduinosensor.DS1307

: arduinosensor.DS1307

  DS1307 realtime clock sensor

#### Methods

: `obj =` DS1307(arObj)
: `obj =` DS1307(arObj, `propertyname, propertyvalue ....)`

  Constructor to create DS1307 sensor

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:

  i2caddress

    I2C address of the DS1307 (default 0x68)

  #### Outputs

  obj - created DS1307 object

  #### Example

       a = arduino()
       rtc = arduinosensor.DS1307(a)

: `date =` clock(dsObj)
: clock(dsObj, `date)`

  Get/set the DS1307 clock

  #### Inputs

  dsObj - the ds1307 object

  date - a date vector in same format as datevec and clock

  #### Outputs

  date - a date vector in same format as datevec and clock

  #### Example

       a = arduino()
       rtc = arduinosensor.DS1307(a)
       # get and display rtc time as a date string
       datestr(rtc.clock)

  See also: datevec.

: `ctrl =` control(dsObj)
: control(dsObj, `ctrl)`

  Get/set the DS1307 clock

  #### Inputs

  dsObj - the ds1307 object

  ctrl - a structure containing the control bit fields.

  #### Outputs

  ctrl - a structure containing the control bit fields.

  Control structure fields are: Current properties are:

  out

    Out bit in the control register

  sqwe

    Square wave enable bit in control register

  rs

    The combined RS0, RS1 value

: `YN =` isstarted(dsObj)

  Get whether the RTC clock is currently counting time

  #### Inputs

  dsObj - the ds1307 object

  #### Outputs

  YN - returns true if the RTC is counting

  See also: start, stop.

: start(dsObj)

  Start the RTC counting

  #### Inputs

  dsObj - the ds1307 object

  #### Outputs

  None

  See also: datevec.

: stop(dsObj)

  Stop the RTC counting

  #### Inputs

  dsObj - the ds1307 object

  #### Outputs

  None

  See also: datevec.

#### 9.12.2 arduinosensor.GUVAS12SD

: arduinosensor.GUVAS12SD

  A thin wrapper for the GUVAS12SD analog UV-B sensor

#### Methods

: `obj =` GUVAS12SD(arObj, `pin)`

  Constructor to create GUVAS12SD sensor

  #### Inputs

  arObj - the arduino parent object

  pin - the analog pin that the sensor is connected to

  #### Outputs

  obj - created GUVAS12SD object

  #### Example

       a = arduino()
       # create sensor attached to pin a0.
       sensor = arduinosensor.GUVAS12SD(a, "a0")

: `V =` read(dsObj)

  Read the voltage of the sensor

  #### Inputs

  dsObj - the GUVAS12SD object

  #### Outputs

  V - read voltage - effectively equivalent to readAnalogPin(arObj, pin).

  #### Example

       a = arduino()
       s = arduinosensor.GUVAS12SD(a)
       # voltage
       volts = s.read

  See also: arduinosensor.GUVAS12SD.

: `Idx =` readIndex(dsObj)

  Read the UV index

  #### Inputs

  dsObj - the GUVAS12SD object

  #### Outputs

  Idx - the sensor reading as a UV index reading

: `uA =` readuA(dsObj)

  Read the uA of the sensor

  #### Inputs

  dsObj - the GUVAS12SD object

  #### Outputs

  uA - the sensor reading as a uAmp value

#### 9.12.3 arduinosensor.MPC3002

: arduinosensor.MPC3002

  MCP3002 ADC sensor

#### Methods

: `obj =` MPC3002(arObj, `selectPin)`
: `obj =` MPC3002(arObj, `selectPin, propertyname, propertyvalue ....)`

  Constructor to create MPC3002 sensor

  #### Inputs

  arObj - the arduino parent object

  selectPin - the SPI cs select pin

  propertyname, propertyvalue - optional property name, value pairs.

  Current properties are:

  referenceVoltage

    Reference voltage for scaling the ADC inputs (default 5.0)

  #### Outputs

  obj - created MCP3002 object

  #### Example

       a = arduino()
       sensor = arduinosensor.MPC3002(a, "d10")

: `voltage =` readVoltage(dsObj, `chan)`

  Read the voltage from a channel

  #### Inputs

  dsObj - the MPC3002 object

  chan - the channel to read (0 or 1)

  #### Outputs

  voltage - read voltage.

  #### Example

       a = arduino()
       s = arduinosensor.MPC3002(a, "d10")
       volts = readVoltage(s, 0)

  See also: arduinosensor.MPC3002.

#### 9.12.4 arduinosensor.SI7021

: arduinosensor.SI7021

  SI7021 temperature and humidity sensor

#### Methods

: `obj =` SI7021(arObj)
: `obj =` SI7021(arObj, `propertyname, propertyvalue ....)`

  Constructor to create SI7021 sensor

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:

  i2caddress

    I2C address of the SI7021 (default 0x40)

  #### Outputs

  obj - created SI7020 object

  #### Example

       a = arduino()
       sensor = arduinosensor.SI7021(a)

: `C =` temperature(dsObj)

  Read the temperature

  #### Inputs

  dsObj - the si7021 object

  #### Outputs

  C - read temperature in deg C.

  #### Example

       a = arduino()
       s = arduinosensor.SI7021(a)
       # get temp
       temp = s.temperature

  See also: arduinosensor.SI7021.

: `relH =` humidity(dsObj)

  Read the relative humidity

  #### Inputs

  dsObj - the si7021 object

  #### Outputs

  relH - relative humidity as a percentage (0 - 100.0)

: `relH =` info(dsObj)

  Read the sensor info

  #### Inputs

  dsObj - the si7021 object

  #### Outputs

  inf - structure containing the sensor information.

  Structure fields are:

  version

    Chip firmware version

  id

    sensor id1,id2 value

  type

    String for detected chip type

### 9.13 Arduino I/O package

#### 9.13.1 arduinoio.AddonBase

: arduinoio.AddonBase

  Base class used for arduino library sensors

  See also: arduinoio.LibraryBase.

#### Properties

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

#### Methods

: `ab =` AddonBase `()`

  Constructor of base class

  #### Outputs

  The return value ab is an object of the arduinio.AddonBase class.

  See also: arduino, addon.

: disp `()`

  Display the addon in a verbose way.

#### 9.13.2 arduinoio.FilePath

: `retval =` arduinoio.FilePath `(fullpathname)`

  Get the directory component of a pathname.

  #### Inputs

  fullpathname filepath to get directory component of.

  #### Outputs

  retval the directory part of the filename.

#### 9.13.3 arduinoio.LibFiles

: `filelist =` arduinoio.LibFiles `()`

  Get the list of files used for the building arduino library

  #### Outputs

  filelist - string cell array of files for the arduino project

#### 9.13.4 arduinoio.LibraryBase

: arduinoio.LibraryBase

  Base class used for arduino library plugins

  See also: arduino, listArduinoLibraries, addon.

#### Properties

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.

#### Methods

: `lb =` LibraryBase `()`

  Constructor of base class

  The constructor is usually not called but called indirectly from the addon function.

  #### Outputs

  The return value lb is an object of the arduinio.LibraryBase class.

  See also: arduino, listArduinoLibraries, addon.

: disp `()`

  Display the addon in a verbose way.

#### 9.13.5 arduinoio.getBoardConfig

: `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.

  #### Inputs

  boardname - name of board to get configuration of ie: "uno"

  #### Outputs

  retval configuration struct.

### 9.14 Matlab Compatibility Classes

#### 9.14.1 matlabshared.addon.LibraryBase

: matlabshared.addon.LibraryBase

  Compatability class used for arduino library plugins using matlabshared.addons.LibraryBase

  See also: arduinoio.LibraryBase, arduino, listArduinoLibraries, addon.

#### Properties

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.

#### Methods

: `lb =` LibraryBase `()`

  Constructor of base class

  The constructor is usually not called but called indirectly from the addon function.

  #### Outputs

  The return value lb is an object of the matlabshare.addons.LibraryBase class.

  See also: arduino, listArduinoLibraries, addon.

: disp `()`

  Display the addon in a verbose way.

### 9.15 Sensors

#### 9.15.1 bme280

: bme280

  BME280 pressure, temperature and humidity sensor

#### Methods

: `obj =` bme280(arObj)
: `obj =` bme280(arObj, `propertyname, propertyvalue ....)`

  Constructor to create BME280 sensor

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:

  I2CAddress

    I2C address of the sensor (default 0x40)

  Bus

    I2C bus - 0 or 1 (default 0)

  #### Outputs

  obj - created object

  #### Example

       a = arduino()
       sensor = bme280(a)

: `[C, timestamp] =` readTemperature(obj)

  Read the temperature

  #### Inputs

  obj - the sensor object

  #### Outputs

  C - read temperature in deg C.

  timestamp - timestamp when read

  #### Example

       a = arduino()
       s = bme280(a)
       # get temp
       temp = s.readTemperature

  See also: bme280.

: `[relH, timestamp] =` readHumidity(obj)

  Read the relative humidity

  #### Inputs

  obj - the sensor object

  #### Outputs

  relH - relative humidity as a percentage (0 - 100.0)

  timestamp - timestamp when read

: `[P, timestamp] =` readPressure(obj)

  Read the pressure

  #### Inputs

  obj - the sensor object

  #### Outputs

  P - pressure reading from sensor.

  timestamp - timestamp when read

: `[readings, overrun] =` read(obj)
: `[P, H, C, timestamp, overrun] =` read(obj)

  Read the sensor data

  #### Inputs

  obj - the sensor object

  #### Outputs

  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

  #### Inputs

  obj - the sensor object

  #### Outputs

  inf - structure containing the sensor information.

  Structure fields are:

  Version

    Chip firmware version

  SensorId

    sensor id value

  Type

    sensor type ’bme280’

  Status

    Status value read from sensor

: flush(obj)

  Flush sensor data

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

: release(obj)

  Release the resources of the sensor

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

#### 9.15.2 bno055

: bno055

  BNO055 9 axis orientation sensor

#### Methods

: `obj =` bno055(arObj)
: `obj =` bno055(arObj, `propertyname, propertyvalue ....)`

  Constructor to create BME280 sensor

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:

  I2CAddress

    I2C address of the sensor (default 0x40)

  Bus

    I2C bus - 0 or 1 (default 0)

  OperatingMode

    Operating mode ’ndof’ or ’amg’

  #### Outputs

  obj - created object

  #### Example

       a = arduino()
       sensor = bno055(a)

: `[C, timestamp] =` readTemperature(obj)

  Read the temperature

  #### Inputs

  obj - the sensor object

  #### Outputs

  C - read temperature in deg C.

  timestamp - timestamp when read

  #### Example

       a = arduino()
       s = bno055(a)
       # get temp
       temp = s.readTemperature

  See also: bno055.

: `[readVal, timestamp] =` readAcceleration(obj)

  Read the acceleration rate

  #### Inputs

  obj - the sensor object

  #### Outputs

  readVal - the 3 acceleration values

  timestamp - timestamp when read

: `[readVal, timestamp] =` readAngularVelocity(obj)

  Read the angular velocity

  #### Inputs

  obj - the sensor object

  #### Outputs

  readVal - the 3 angular velocity values

  timestamp - timestamp when read

: `[readVal, timestamp] =` readMagneticField(obj)

  Read the magnetic field components

  #### Inputs

  obj - the sensor object

  #### Outputs

  readVal - the 3 magnetic field values

  timestamp - timestamp when read

: `[readVal, timestamp] =` readOrientation(obj)

  Read the oriientation components

  #### Inputs

  obj - the sensor object

  #### Outputs

  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

  #### Inputs

  obj - the sensor object

  #### Outputs

  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

  #### Inputs

  obj - the sensor object

  #### Outputs

  status - structure containing the calibration information.

  Structure fields are:

  System

    System calibrarion

  Accelerometer

    Accelerometer calibration status

  Gyroscope

    Gyroscope calibration status

  Magnetometer

    Magnetometer calibration status

  Values for each will be either ’uncalibrated’, ’partial’ or ’full’.

: `inf =` info(obj)

  Read the sensor info

  #### Inputs

  obj - the sensor object

  #### Outputs

  inf - structure containing the sensor information.

  Structure fields are:

  Version

    Software firmware version

  SensorId

    sensor id value

  Type

    sensor type ’bno055’

: flush(obj)

  Flush sensor data

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

: release(obj)

  Release the resources of the sensor

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

#### 9.15.3 lis3dh

: lis3dh

  LIS3DH 3 degrees sensor

#### Methods

: `obj =` lis3dh(arObj)
: `obj =` lis3dh(arObj, `propertyname, propertyvalue ....)`

  Constructor to create LIS3DH sensor

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:

  I2CAddress

    I2C address of the sensor (default 0x40)

  Bus

    I2C bus - 0 or 1 (default 0)

  #### Outputs

  obj - created object

  #### Example

       a = arduino()
       sensor = lis3dh(a)

: `[readVal, timestamp] =` readAcceleration(obj)

  Read the acceleration rate

  #### Inputs

  obj - the sensor object

  #### Outputs

  readVal - the 3 acceleration values

  timestamp - timestamp when read

: `[readings, overrun] =` read(obj)
: `[accel, timestamp, overrun] =` read(obj)

  Read the sensor data

  #### Inputs

  obj - the sensor object

  #### Outputs

  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

  #### Inputs

  obj - the sensor object

  #### Outputs

  inf - structure containing the sensor information.

  Structure fields are:

  SensorId

    sensor id value

  Type

    sensor type ’lis3dh’

  Status

    sensor status value

: flush(obj)

  Flush sensor data

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

: release(obj)

  Release the resources of the sensor

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

#### 9.15.4 lps22hb

: lps22hb

  LPS22HB absolute pressure and temperature sensor

#### Methods

: `obj =` lps22hb(arObj)
: `obj =` lps22hb(arObj, `propertyname, propertyvalue ....)`

  Constructor to create LPS22HB sensor

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:

  I2CAddress

    I2C address of the sensor (default 0x5C)

  Bus

    I2C bus - 0 or 1 (default 0)

  #### Outputs

  obj - created object

  #### Example

       a = arduino()
       sensor = lps22hb(a)

: `[C, timestamp] =` readTemperature(obj)

  Read the temperature

  #### Inputs

  obj - the sensor object

  #### Outputs

  C - read temperature in deg C.

  timestamp - timestamp when read

  #### Example

       a = arduino()
       s = lps22hb(a)
       # get temp
       temp = s.readTemperature

  See also: lps22hb.

: `[P, timestamp] =` readPressure(obj)

  Read the pressure

  #### Inputs

  obj - the sensor object

  #### Outputs

  P - pressure reading from sensor.

  timestamp - timestamp when read

: `[readings, overrun] =` read(obj)
: `[P, C, timestamp, overrun] =` read(obj)

  Read the sensor data

  #### Inputs

  obj - the sensor object

  #### Outputs

  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

  #### Inputs

  obj - the sensor object

  #### Outputs

  inf - structure containing the sensor information.

  Structure fields are:

  Version

    Chip firmware version

  SensorId

    sensor id value

  Type

    sensor type ’lps22hb’

  Status

    Status value read from sensor

: flush(obj)

  Flush sensor data

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

: release(obj)

  Release the resources of the sensor

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

#### 9.15.5 lsm6dso

: lsm6dso

  LSM6DSO 6 degrees sensor

#### Methods

: `obj =` lsm6dso(arObj)
: `obj =` lsm6dso(arObj, `propertyname, propertyvalue ....)`

  Constructor to create LSM6DSO sensor

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:

  I2CAddress

    I2C address of the sensor (default 0x40)

  Bus

    I2C bus - 0 or 1 (default 0)

  #### Outputs

  obj - created object

  #### Example

       a = arduino()
       sensor = lsm6dso(a)

: `[C, timestamp] =` readTemperature(obj)

  Read the temperature

  #### Inputs

  obj - the sensor object

  #### Outputs

  C - read temperature in deg C.

  timestamp - timestamp when read

  #### Example

       a = arduino()
       s = lsm6dso(a)
       # get temp
       temp = s.readTemperature

  See also: lsm6dso.

: `[readVal, timestamp] =` readAcceleration(obj)

  Read the acceleration rate

  #### Inputs

  obj - the sensor object

  #### Outputs

  readVal - the 3 acceleration values

  timestamp - timestamp when read

: `[readVal, timestamp] =` readAngularVelocity(obj)

  Read the angular velocity

  #### Inputs

  obj - the sensor object

  #### Outputs

  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

  #### Inputs

  obj - the sensor object

  #### Outputs

  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

  #### Inputs

  obj - the sensor object

  #### Outputs

  inf - structure containing the sensor information.

  Structure fields are:

  SensorId

    sensor id value

  Type

    sensor type ’lsm6dso’

: flush(obj)

  Flush sensor data

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

: release(obj)

  Release the resources of the sensor

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

#### 9.15.6 mpu6050

: mpu6050

  MPU-6050 6 degrees sensor

#### Methods

: `obj =` mpu6050(arObj)
: `obj =` mpu6050(arObj, `propertyname, propertyvalue ....)`

  Constructor to create MPU-6050 sensor

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:

  I2CAddress

    I2C address of the sensor (default 0x40)

  Bus

    I2C bus - 0 or 1 (default 0)

  #### Outputs

  obj - created object

  #### Example

       a = arduino()
       sensor = mpu6050(a)

: `[C, timestamp] =` readTemperature(obj)

  Read the temperature

  #### Inputs

  obj - the sensor object

  #### Outputs

  C - read temperature in deg C.

  timestamp - timestamp when read

  #### Example

       a = arduino()
       s = mpu6050(a)
       # get temp
       temp = s.readTemperature

  See also: mpu6050.

: `[readVal, timestamp] =` readAcceleration(obj)

  Read the acceleration rate

  #### Inputs

  obj - the sensor object

  #### Outputs

  readVal - the 3 acceleration values

  timestamp - timestamp when read

: `[readVal, timestamp] =` readAngularVelocity(obj)

  Read the angular velocity

  #### Inputs

  obj - the sensor object

  #### Outputs

  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

  #### Inputs

  obj - the sensor object

  #### Outputs

  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

  #### Inputs

  obj - the sensor object

  #### Outputs

  inf - structure containing the sensor information.

  Structure fields are:

  SensorId

    sensor id value

  Type

    sensor type ’mpu6050’

: flush(obj)

  Flush sensor data

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

: release(obj)

  Release the resources of the sensor

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

#### 9.15.7 si7021

: si7021

  SI7021 temperature and humidity sensor

#### Methods

: `obj =` si7021(arObj)
: `obj =` si7021(arObj, `propertyname, propertyvalue ....)`

  Constructor to create si7021 sensor

  #### Inputs

  arObj - the arduino parent object

  propertyname, propertyvalue - optional property name, value pairs. Current known properties are: Current properties are:

  I2Caddress

    I2C address of the si7021 (default 0x40)

  Bus

    I2C bus (default 0)

  #### Outputs

  obj - created SI7020 object

  #### Example

       a = arduino()
       sensor = si7021(a)

: `[C, timestamp] =` readTemperature(obj)

  Read the temperature

  #### Inputs

  obj - the si7021 object

  #### Outputs

  C - read temperature in deg C.

  timestamp - timestamp when read

  #### Example

       a = arduino()
       s = si7021(a)
       # get temp
       temp = s.readTemperature()

  See also: si7021.

: `[relH, timestamp] =` readHumidity(obj)

  Read the relative humidity

  #### Inputs

  obj - the si7021 object

  #### Outputs

  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

  #### Inputs

  obj - the si2071 sensor object

  #### Outputs

  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

  #### Inputs

  dsObj - the si7021 object

  #### Outputs

  inf - structure containing the sensor information.

  Structure fields are:

  Version

    Chip firmware version

  SensorDd

    sensor id value

  Type

    String for detected chip type

: flush(obj)

  Flush sensor data

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

: release(obj)

  Release the resources of the sensor

  #### Inputs

  obj - the sensor object

  #### Outputs

  None

### 9.16 Test Functions

#### 9.16.1 arduino_bistsetup

: `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.

  #### Inputs

  propertyname, propertyvalue - A sequence of property name/value pairs can be given to set defaults while programming.

  Currently the following properties can be set:

  arduinobinary

    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.

  debug

    Set the debug flag when checking the arduino

  #### Outputs

  retval - return 1 if everything installed ok

  See also: arduino, arduinosetup.

## Appendix A GNU General Public License

Version 3, 29 June 2007

    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.

### Preamble

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.

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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.

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   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.

7. Additional Terms.

   “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:

   1. Disclaiming warranty or limiting liability differently from the terms of sections 15 and 16 of this License; or
   2. Requiring preservation of specified reasonable legal notices or author attributions in that material or in the Appropriate Legal Notices displayed by works containing it; or
   3. Prohibiting misrepresentation of the origin of that material, or requiring that modified versions of such material be marked in reasonable ways as different from the original version; or
   4. Limiting the use for publicity purposes of names of licensors or authors of the material; or
   5. Declining to grant rights under trademark law for use of some trade names, trademarks, or service marks; or
   6. Requiring indemnification of licensors and authors of that material by anyone who conveys the material (or modified versions of it) with contractual assumptions of liability to the recipient, for any liability that these contractual assumptions directly impose on those licensors and authors.

   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.

8. Termination.

   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.

9. Acceptance Not Required for Having Copies.

   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.

10. Automatic Licensing of Downstream Recipients.

    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.

11. Patents.

    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.

12. No Surrender of Others’ Freedom.

    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.

13. Use with the GNU Affero General Public License.

    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.

14. Revised Versions of this License.

    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.

15. Disclaimer of Warranty.

    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.

16. Limitation of Liability.

    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.

17. Interpretation of Sections 15 and 16.

    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.

### END OF TERMS AND CONDITIONS

### How to Apply These Terms to Your New Programs

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.

## Index

Jump to: | A B C D E F G H I K L M O P Q R S T U V W

| Index Entry | Section

A
| addon | Arduino Addons
| Addon Introduction | Addons Overview
| Addon package .m file | Addons Overview
| Addon package directory | Addons Overview
| Addon package header file | Addons Overview
| AddonBase | Arduino I/O package
| Addons Overview | Addons Overview
| arduino | Arduino Functions - Arduino creation
| Arduino Addons | Arduino Addons
| Arduino Device Functions | Arduino Device Functions
| Arduino Functions | Arduino Functions
| Arduino Functions - Arduino creation | Arduino Functions - Arduino creation
| Arduino Functions - General Functions | Arduino Functions - General Functions
| Arduino Functions - Read and Write Data | Arduino Functions - Read and Write Data
| Arduino Functions - Resource Functions | Arduino Functions - Resource Functions
| Arduino Functions - Terminal Functions | Arduino Functions - Terminal Functions
| Arduino I/O package | Arduino I/O package
| Arduino I2C Functions | Arduino I2C Functions
| Arduino Rotary Encoder Functions | Arduino Rotary Encoder Functions
| Arduino Sensor | Sensors Overview
| Arduino Sensors | Arduino Sensors
| Arduino Serial Functions | Arduino Serial Functions
| Arduino Servo Functions | Arduino Servo Functions
| Arduino Shiftregister Functions | Arduino Shiftregister Functions
| Arduino SPI Functions | Arduino SPI Functions
| Arduino Ultrasonic Functions | Arduino Ultrasonic Functions
| arduino_bistsetup | Test Functions
| arduinosetup | General Functions
| Available Sensors | Sensors Overview
| Available Sensors | Sensors Overview

B
| Basic Input and Output Overview | Basic Input and Output Overview
| Blinking an LED | Examples
| bme280 | Sensors
| bno055 | Sensors

C
| checkI2CAddress | Arduino Functions - General Functions
| configurePin | Arduino Functions - Read and Write Data
| configurePinResource | Arduino Functions - Resource Functions
| Connecting to a single arduino | Connecting to an arduino
| Connecting to a specific arduino | Connecting to an arduino
| Connecting to an arduino | Connecting to an arduino
| copyright | Copying
| Creating a addon object | Addons Overview
| Creating an addon | Addons Overview

D
| dcmotorv2 | Arduino Addons
| decrementResourceCount | Arduino Functions - Resource Functions
| delete | Arduino Functions - Arduino creation
| delete | Arduino I2C Functions
| delete | Arduino I2C Functions
| delete | Arduino Rotary Encoder Functions
| delete | Arduino Servo Functions
| delete | Arduino Shiftregister Functions
| delete | Arduino SPI Functions
| delete | Arduino SPI Functions
| delete | Arduino Serial Functions
| delete | Arduino Device Functions
| delete | Arduino Ultrasonic Functions
| device | Arduino Serial Functions
| device | Arduino Device Functions
| disp | Arduino Functions - Arduino creation
| disp | Arduino I2C Functions
| disp | Arduino I2C Functions
| disp | Arduino Rotary Encoder Functions
| disp | Arduino Servo Functions
| disp | Arduino Shiftregister Functions
| disp | Arduino SPI Functions
| disp | Arduino SPI Functions
| disp | Arduino Serial Functions
| disp | Arduino Device Functions
| disp | Arduino Ultrasonic Functions
| DS1307 | Arduino Addons
| DS1307 | Arduino Sensors

E
| Echo | Arduino Addons
| EEPRom | Arduino Addons
| Examples | Examples

F
| FilePath | Arduino I/O package
| flush | Arduino Serial Functions
| flush | Arduino Device Functions
| Function Reference | Function Reference

G
| General Functions | General Functions
| getBoardConfig | Arduino I/O package
| getEndian | Arduino Functions - General Functions
| getI2CTerminals | Arduino Functions - Terminal Functions
| getInterruptTerminals | Arduino Functions - Terminal Functions
| getLEDTerminals | Arduino Functions - Terminal Functions
| getMCU | Arduino Functions - General Functions
| getPinAlias | Arduino Functions - General Functions
| getPinInfo | Arduino Functions - Terminal Functions
| getPinsFromTerminals | Arduino Functions - Terminal Functions
| getPWMTerminals | Arduino Functions - Terminal Functions
| getResourceCount | Arduino Functions - Resource Functions
| getResourceOwner | Arduino Functions - Resource Functions
| getServoTerminals | Arduino Functions - Terminal Functions
| getSharedResourceProperty | Arduino Functions - Resource Functions
| getSPITerminals | Arduino Functions - Terminal Functions
| getTerminalMode | Arduino Functions - Terminal Functions
| getTerminalsFromPins | Arduino Functions - Terminal Functions
| GUVAS12SD | Arduino Sensors

H
| Hardware setup | Hardware setup

I
| I2C communication | Protocol based I/O Overview
| i2cdev | Arduino I2C Functions
| incrementResourceCount | Arduino Functions - Resource Functions
| Installing and loading | Installing and loading
| isarduino | General Functions
| isTerminalAnalog | Arduino Functions - Terminal Functions
| isTerminalDigital | Arduino Functions - Terminal Functions

K
| Known Arduino Board Types | Hardware setup

L
| LCD | Arduino Addons
| LibFiles | Arduino I/O package
| LibraryBase | Arduino I/O package
| LibraryBase | Matlab Compatibility Classes
| lis3dh | Sensors
| listArduinoLibraries | General Functions
| Loading | Installing and loading
| lps22hb | Sensors
| lsm6dso | Sensors

M
| Matlab Compatibility Classes | Matlab Compatibility Classes
| Matlab Compatible Sensor | Sensors Overview
| motorshieldv2 | Arduino Addons
| MPC3002 | Arduino Sensors
| mpu6050 | Sensors

O
| Off-line install | Installing and loading
| Online install | Installing and loading

P
| Performing Analog Input | Basic Input and Output Overview
| Performing Digital I/O | Basic Input and Output Overview
| playTone | Arduino Functions - Read and Write Data
| Programming the Arduino | Hardware setup
| Programming the arduino with the addon | Addons Overview
| Protocol based I/O Overview | Protocol based I/O Overview

Q
| Querying available arduinos | Connecting to an arduino

R
| read | Arduino I2C Functions
| read | Arduino I2C Functions
| read | Arduino Shiftregister Functions
| read | Arduino Serial Functions
| read | Arduino Device Functions
| readAnalogPin | Arduino Functions - Read and Write Data
| readCount | Arduino Rotary Encoder Functions
| readDigitalPin | Arduino Functions - Read and Write Data
| readDistance | Arduino Ultrasonic Functions
| readEchoTime | Arduino Ultrasonic Functions
| readPosition | Arduino Servo Functions
| readRegister | Arduino I2C Functions
| readRegister | Arduino I2C Functions
| readRegister | Arduino Device Functions
| readSpeed | Arduino Rotary Encoder Functions
| readVoltage | Arduino Functions - Read and Write Data
| reset | Arduino Functions - General Functions
| reset | Arduino Shiftregister Functions
| resetCount | Arduino Rotary Encoder Functions
| Rotary Encoder | Protocol based I/O Overview
| rotaryEncoder | Arduino Rotary Encoder Functions

S
| scanForArduinos | General Functions
| scanI2Cbus | Arduino I2C Functions
| sendCommand | Arduino Functions - General Functions
| Sensors | Sensors
| Sensors Overview | Sensors Overview
| Serial communication | Protocol based I/O Overview
| servo | Arduino Servo Functions
| Servo communication | Protocol based I/O Overview
| setSharedResourceProperty | Arduino Functions - Resource Functions
| Shift Registers | Protocol based I/O Overview
| shiftRegister | Arduino Shiftregister Functions
| SI7021 | Arduino Sensors
| si7021 | Sensors
| SimpleStepper | Arduino Addons
| SPI communication | Protocol based I/O Overview
| spidev | Arduino SPI Functions
| stepper | Arduino Addons
| subsref | Arduino I2C Functions
| subsref | Arduino I2C Functions
| subsref | Arduino Rotary Encoder Functions
| subsref | Arduino Servo Functions
| subsref | Arduino Shiftregister Functions
| subsref | Arduino SPI Functions
| subsref | Arduino SPI Functions
| subsref | Arduino Serial Functions
| subsref | Arduino Device Functions
| subsref | Arduino Ultrasonic Functions

T
| Test Functions | Test Functions

U
| ultrasonic | Arduino Ultrasonic Functions
| Ultrasonic Sensors | Protocol based I/O Overview
| uptime | Arduino Functions - General Functions
| Using Addons | Addons Overview
| Using I2C to communicate with an EEPROM | Examples
| Using SPI to communicate with a mcp3002 10 bit ADC | Examples

V
| validatePin | Arduino Functions - Read and Write Data
| Verify octave can see the addon | Addons Overview
| version | Arduino Functions - General Functions

W
| warranty | Copying
| write | Arduino I2C Functions
| write | Arduino I2C Functions
| write | Arduino Shiftregister Functions
| write | Arduino Serial Functions
| write | Arduino Device Functions
| writeDigitalPin | Arduino Functions - Read and Write Data
| writePosition | Arduino Servo Functions
| writePWMDutyCycle | Arduino Functions - Read and Write Data
| writePWMVoltage | Arduino Functions - Read and Write Data
| writeRead | Arduino SPI Functions
| writeRead | Arduino SPI Functions
| writeRead | Arduino Device Functions
| writeRegister | Arduino I2C Functions
| writeRegister | Arduino I2C Functions
| writeRegister | Arduino Device Functions